CN117388687A - Testing device and method for miniature linear piezoelectric motor - Google Patents
Testing device and method for miniature linear piezoelectric motor Download PDFInfo
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- CN117388687A CN117388687A CN202311429459.9A CN202311429459A CN117388687A CN 117388687 A CN117388687 A CN 117388687A CN 202311429459 A CN202311429459 A CN 202311429459A CN 117388687 A CN117388687 A CN 117388687A
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- 238000012360 testing method Methods 0.000 title claims abstract description 109
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- 239000000284 extract Substances 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 43
- 238000013480 data collection Methods 0.000 claims description 27
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- 239000013585 weight reducing agent Substances 0.000 claims description 7
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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Abstract
The invention discloses a testing device and method for a miniature linear piezoelectric motor, and belongs to the technical field of piezoelectric motor testing. The device comprises a piezoelectric motor, a precompression applying platform, a testing platform, a driving and controlling system and an instruction and data collecting panel. The piezoelectric motor is a test piece and is fixed on a test platform, the test platform is arranged above a precompression applying platform, the precompression applying platform provides and extracts precompression borne by the piezoelectric motor, the test platform extracts various parameters in the test process, and a relational database of the precompression, voltage, speed, frequency, friction and other parameters of the piezoelectric motor is established. The invention makes the performance testing method of the miniature linear piezoelectric motor more comprehensive and systematic, and can improve the degree of automation of the test, and is convenient for establishing a relational database of the piezoelectric motor.
Description
Technical Field
The invention belongs to the technical field of piezoelectric motor testing, and particularly relates to a testing device and method for a miniature linear piezoelectric motor.
Background
The linear piezoelectric motor utilizes the inverse piezoelectric effect of piezoelectric ceramics to generate friction driving force between the driving foot and the friction plate, thereby realizing linear motion and force output. In the design and test process of the piezoelectric motor, the performance parameters such as the speed and the load of the motor are influenced by different factors such as the size, the material, the pre-pressure, the frequency, the friction material and the like, and different test methods and test devices can greatly influence the test result.
Aiming at different performance parameters and influence factors, the existing piezoelectric motor testing method needs to be completed on different testing devices, the testing efficiency is low, and the testing consistency is difficult to ensure. The automatic test cannot be completed by the test method and the device, the degree of automation is low, and the establishment of a systematic test database is very difficult.
Disclosure of Invention
Aiming at the defects related to the background technology, the invention provides a testing device and a testing method for a linear piezoelectric motor, which are used for testing a miniature linear piezoelectric motor, and have the advantages of high testing precision, good accuracy, automatic operation completion and systematic test database establishment.
The technical scheme adopted by the invention is as follows:
a test device for a linear piezoelectric motor, comprising: the device comprises a piezoelectric motor, a precompression applying platform, a testing platform, a driving and controlling system and an instruction and data collecting panel.
The piezoelectric motor is a test piece and is fixed on a test platform, the test platform is arranged above the precompression applying platform, the precompression applying platform provides and extracts precompression borne by the piezoelectric motor, the test platform extracts various parameters in the test process, and a relational database of the precompression, voltage, speed, frequency, friction and other parameters of the piezoelectric motor is established.
The piezoelectric motor comprises a piezoelectric vibrator 010 and a friction plate 020; the piezoelectric vibrator 010 is fixed on the lower base plate 220 of the test platform as a stator, and the friction plate 020 is bonded on the sliding piece 253 of the test platform as a rotor.
The pre-pressure applying platform comprises an electric Z-axis sliding table 120, an R-axis rotary displacement table 130, an adapter plate 140 and a bottom plate 110. The electric Z-axis sliding table 120 is fixed on the base plate 110, and is driven by a stepper motor, so as to convert the rotational motion of the stepper motor into horizontal linear motion, and convert the horizontal linear motion into vertical linear motion through an inclined plane mechanism, so as to be used for giving the pre-pressure required by the piezoelectric motor; the lower surface of the R-axis rotary displacement table 130 is connected with the sliding table surface of the electric Z-axis sliding table 120, and the upper surface is connected with the adapter plate 140; the adapter plate 140 is used for adapting the pressure sensors in the R-axis rotary displacement table 130 and the test platform. The R-axis rotary displacement table 130 is provided with a manual knob, and the rotary displacement table rotates the adapter plate 140 and the pressure sensor to control the position of the piezoelectric motor.
The test platform comprises a pressure sensor, a lower bottom plate 220, a supporting device, a moving device, a load applying device, a magnetic grid ruler displacement sensor, an electric guide rail and a contact force sensing device.
The pressure sensor is used for monitoring the pre-pressure applied by the piezoelectric motor and comprises a pressure measuring device 211, a placing platform 212, a pushing screw 213 and a clamping slide block 214. Wherein the pressure measuring device 211 is mounted on the adapter plate 140; the placing platform 212 is placed on the pressure measuring device 211, four clamping sliding blocks 214 which are symmetrically and orthogonally arranged are arranged in the placing platform, and clamping and disassembling of the clamping sliding blocks on the lower bottom plate 220 of the testing platform are completed by pushing screws 213 in and out.
The piezoelectric vibrator is fixed on the upper surface of the lower plate 220.
The support means includes a rear support plate 231, side plates 232, a slider mount 233 and a stop 234. Wherein, the back supporting plate 231 is fixed on the bottom plate 110, two side plates 232 are symmetrically connected to two sides of the back supporting plate 231, and a notch is arranged above the side plate 232 for installing a sliding block installation seat 233; the block 234 is symmetrically connected to the inner side of the side plate 232, and the slider mounting seat 233 is fixedly connected to the upper surface of the block.
The moving device includes a guide rail 251, a slider 252, and a slider 253; the guide rail 251 is mounted on the slider mounting seat 233; the sliding piece 253 is arranged on the side surface of the sliding piece mounting seat 233, and the sliding piece mounting seat 233 is positioned between the upper end and the lower end of the sliding piece 253; the lower end of the sliding piece 253 is connected with the guide rail 251 through a sliding block 252 and can move on the guide rail 251; the bottom of the sliding piece 253 is adhered with a friction plate 020.
The load applying device is used for applying loads with different magnitudes to the piezoelectric motor, and comprises a roller seat 241, a groove-type bearing roller 242 and a weight 243. Wherein, the two roller seats 241 are symmetrically arranged at the outer sides of the side plates 232 and are positioned at the two sides of the slider mounting seat 233; the groove-shaped bearing roller 242 is arranged between the two through holes of the roller seat 241, and the two through holes of the roller seat 241 and the inner holes of the groove-shaped bearing roller 242 are connected by using a step screw; the weight 243 is connected to the sliding member 253 through a thin cotton thread, the thin cotton thread is placed in the notch of the groove-shaped bearing roller 242, the weight naturally falls under the test state, and the weight specifications are different under different test conditions.
The magnetic grating ruler displacement sensor is used for measuring the speed and the displacement in the running process of the piezoelectric motor and comprises a magnetic grating ruler 261, a magnetic grating ruler displacement sensor head 262 and a sensor connecting piece 263. The sensor connector 263 is fixed at the center of the slider mount 233; the magnetic grid ruler displacement sensor head 262 is fixedly connected with the sensor connecting piece 263; the magnetic grating 261 is adhered to the upper surface of the top end of the slider 253, and is arranged parallel to the magnetic grating displacement sensor head 262.
The motorized guide rail includes a motor 271, a ball screw 272, a wire rail 273, a wire rail slider 274, and a motorized guide rail base plate 275. The electric guide rail bottom plate 275 is installed on the rear support plate 231, and the electric guide rail bottom plate 275 is installed with a wire rail 273 along the length direction; one end of the ball screw 272 is connected with a motor 271 on the side surface of the electric guide rail bottom plate 275, and the other end of the ball screw passes through an angular contact bearing on the electric guide rail bottom plate 275; the linear rail slide block 274 is mounted on the ball screw 272, and the linear rail slide block 274 is constrained by the linear rail 273 and moves linearly along the ball screw direction under the rotation of the motor.
The contact force sensing means includes a connection hinge 281 and a pull pressure sensor 282. The inner side of the connecting hinge 281 is fixedly connected with the wire rail slide block 274, and the outer side of the connecting hinge is connected with the tension pressure sensor 282; in the test case, the pull pressure sensor 282 is located on the moving surface of the slider 253 under the action of the connecting hinge, and is used for measuring the static and dynamic contact force of the piezoelectric motor.
The driving and controlling system comprises a micro-control unit, a motor driver, a signal generator, a power amplifier and a signal acquisition card. The motor driver is used for driving the motor in the pre-pressure applying platform and the motor in the testing platform to operate respectively; the signal generator and the power amplifier are responsible for generating signal voltage for the work of the piezoelectric motor; the signal acquisition card is used for collecting data signals of the pressure sensor, the magnetic grating ruler displacement sensor and the tension pressure sensor, carrying out signal modulation processing, and transmitting the processed data signals to the micro control unit; the micro control unit is responsible for receiving signals of the signal acquisition card, processing signal data from the signal acquisition card, transmitting the processed signal data to the instruction and data acquisition panel, receiving instruction signals and controlling motor driver actions and inputting required signal voltages by the piezoelectric motor.
The instruction and data collection panel acquires an input waveform signal, a precompression curve, a speed, a displacement curve and a contact force change curve in real time and displays corresponding average speed, precompression, friction force and friction coefficient; the instruction and data collection panel is connected with the driving and controlling system through a serial port, can set frequency, voltage, waveform and phase initialization parameters, provides motion control instruction settings such as precompression instruction setting, circulation, pulse control and the like, can test static contact force and dynamic contact force of the piezoelectric motor, and stores related test data; meanwhile, the instructions can realize automatic testing and collect related test data to complete a relational database.
A method for testing by adopting the testing device of the miniature linear piezoelectric motor can manually or automatically obtain a relational database in the testing method. The test method of the linear piezoelectric motor comprises the following steps:
s1, the position of the piezoelectric vibrator 010 is adjusted through the R-axis rotary displacement table 130, so that the piezoelectric vibrator 010 is positioned at the center of the lower base plate 220 and is kept parallel to the friction plate 020, and the pre-compression force applied to the piezoelectric vibrator is zero.
S2, giving initial resonant frequency, input signals, pre-pressure and load voltage to the piezoelectric motor through the instruction and data collection panel, so that the piezoelectric motor can be driven in a left-right direction in an idle mode.
S3, sequentially giving different frequency signals to the piezoelectric motor from low to high near the initial resonant frequency, sending different pre-pressure instructions for controlling the pre-pressure applying device through the instruction and data collecting panel, acquiring and recording the relationship data of the idle speed and the pre-pressure under different frequencies, and acquiring the optimal resonant frequency of the piezoelectric vibrator through the relationship data; setting the optimal resonant frequency as an input frequency through an instruction and data collection panel, setting different input voltages, sending different pre-pressure instructions, and acquiring the relationship data of the idle speed and the pre-pressure under different input voltages; weights with different weights are added through a load applying device, an optimal resonant frequency is set to be input frequency through an instruction and data collecting panel, voltage is set to be initial voltage, different pre-pressure instructions are sent, relation data between the load speed and the pre-pressure under different loads are obtained, and the optimal pre-pressure under the load of the piezoelectric vibrator is obtained through the relation data; and setting the optimal resonant frequency as the input frequency and the precompression as the optimal precompression through the instruction and data collection panel, setting different input voltages, and obtaining the relationship data between the load speed and the voltage under different loads under the optimal precompression and the optimal resonant frequency.
And S4, under the condition that the piezoelectric vibrator has no input signal, different pre-pressure instructions are sent by the instruction and data collection panel to adjust the pre-pressure value born by the piezoelectric vibrator, the sliding piece 253 is manually connected with the pulling pressure sensor 282, the electric guide rail 270 actively moves the sliding piece 253 at a uniform speed, and the pulling pressure sensor 282 obtains the static contact force under different pre-pressure conditions. Obtaining friction coefficients under different pre-pressure conditions under the condition of no signal through calculation; setting the optimal resonance frequency as the input frequency through the instruction and data collection panel, setting different input voltages, sending different precompression instructions to adjust precompression values born by the piezoelectric vibrator, blocking the testing surface of the tension pressure sensor 282 by the sliding piece 253, acquiring the dynamic contact force under different precompression conditions under the stress balance condition, further acquiring the relation data between the optimal resonance frequency, the dynamic contact force under different precompression conditions and the voltage, and obtaining the friction coefficient under different input voltages through calculation; and acquiring data of dynamic contact force and friction coefficient under different friction interfaces by replacing friction plates with different roughness and different materials.
In step S1, the precompression is zero, which means that the piezoelectric vibrator and the friction plate are not in contact and have no acting force, and the precompression result is cleared by weight reduction calculation to process the value at the pressure sensor.
Further, in step S2, the initial resonance frequency is obtained by an impedance analyzer or other devices; the input signal includes, but is not limited to, sine waves, square waves, triangular waves. The input signal is realized through a signal generator and a power amplifier; the signal generator and the power amplifier can obtain signals of different types, amplitude values, frequencies and phase differences so as to meet the test input signal requirements of different types of linear piezoelectric motors; the pre-pressure is obtained from the pressure sensor, weight reduction is set in advance in the initial stage, and the pre-pressure applied to the piezoelectric vibrator can be directly read out on the instruction and data collection panel.
In step S3, the range of the resonance frequency values near the initial resonance frequency is within +/-20 kHz of the initial resonance frequency, and 1-5 kHz is selected at intervals; the added loads with different magnitudes are determined by the self performance of the piezoelectric motors, and the loads required to be tested by the different piezoelectric motors are different in weight; the magnitude of the load is arranged by weights of different masses.
Further, in step S4, the friction coefficient calculation formula is:
wherein F is N To the magnitude of the precompression, F d Is the static contact force, mu d Is the coefficient of friction.
The data of the relationship data of the idle speed and the precompression under different frequencies, the relationship data of the idle speed and the precompression under different input voltages, the optimal resonant frequency, the optimal precompression, the relationship data of the load speed and the precompression under different loads, the friction coefficient under the condition of no signal, the relationship data of the dynamic contact force and the voltage under different precompressions, the friction coefficient under different input voltages, the dynamic contact force under different friction interfaces and the data of the friction coefficient can be subjected to data integration through instructions and a data collection panel and are subjected to data processing by a computer, a systematic test database can be obtained aiming at different linear piezoelectric motors, data visualization is realized, and data support is provided for optimization, assembly and control of the linear piezoelectric motors.
Compared with the prior art, the invention has the advantages that: the invention can test the linear piezoelectric motor under one device, and the method for testing the performance of the linear piezoelectric motor is more comprehensive and systematic; the automatic test of different test parameters can be completed, and the efficiency in the test process is improved; the test of different types of linear piezoelectric motors can be satisfied, and the device has universality; the relational database can be quickly established by acquiring the relations of different performance parameters.
Drawings
Fig. 1 is a schematic diagram of an overall three-dimensional structure of a linear piezoelectric motor testing device provided by the invention.
Fig. 2 is a front view and a partial enlarged view of a test platform structure in a linear piezoelectric motor test device.
FIG. 3 is a block diagram of the overall drive and control system of the present invention.
FIG. 4 is a schematic diagram of a command and data collection panel according to the present invention.
In the figure: 010 piezoelectric vibrator; 020 friction plate; 110 a bottom plate; 120 electric Z-axis sliding table; 130R axis rotary displacement stage; 140 an adapter plate; 211 pressure measurement means; 212 a placement platform; 213 advance the screw; 214 clamp the slider; 220 a lower plate; 231 rear support plate; 232 side plates; 233 sliding block mounting seats; 234 a stop; 241 roller mount; 242 groove bearing roller; 243 weight; 251 guide rail; 252 slide block; 253 slide; 261 magnetic grid ruler; 262 magnetic grid ruler displacement sensor head; 263 sensor connection; 271 motors; 272 ball screw; 273 line rails; 274 wire rail slide; 275 electric rail base plate; 281 to the hinge; 282 pull the pressure sensor.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
A linear piezoelectric motor testing apparatus as shown in fig. 1 to 2, comprising: the device comprises a piezoelectric motor, a precompression applying platform, a testing platform, a driving and controlling system and an instruction and data collecting panel.
The piezoelectric motor is a test piece and is fixed on a test platform, the test platform is arranged above the precompression applying platform, the precompression applying platform provides and extracts precompression borne by the piezoelectric motor, the test platform extracts various parameters in the test process, and a relational database of the precompression, voltage, speed, frequency, friction and other parameters of the piezoelectric motor is established.
The piezoelectric motor includes a piezoelectric vibrator 010 and a friction plate 020, wherein the piezoelectric vibrator 010 is fixed on the lower base plate 220 of the test platform as a stator, and the friction plate 020 is bonded on the slider 253 of the test platform as a mover.
The pre-pressure applying platform comprises an electric Z-axis sliding table 120, an R-axis rotary displacement table 130, an adapter plate 140 and a bottom plate 110. The electric Z-axis sliding table 120 is fixed on the base plate 110, and is driven by a stepper motor, so as to convert the rotational motion of the stepper motor into horizontal linear motion, and convert the horizontal linear motion into vertical linear motion through an inclined plane mechanism, so as to be used for giving the pre-pressure required by the piezoelectric motor; the lower surface of the R-axis rotary displacement table 130 is connected with the sliding table surface of the electric Z-axis sliding table 120, and the upper surface is connected with the adapter plate 140; the adapter plate 140 is used for adapting the pressure sensors in the R-axis rotary displacement table 130 and the test platform. The R-axis rotary displacement table 130 is provided with a manual knob, and the rotary displacement table rotates the adapter plate 140 and the pressure sensor to control the position of the piezoelectric motor.
The test platform comprises a pressure sensor, a lower bottom plate 220, a supporting device, a moving device, a load applying device, a magnetic grid ruler displacement sensor, an electric guide rail and a contact force sensing device.
The pressure sensor is used for monitoring the pre-pressure applied by the piezoelectric motor and comprises a pressure measuring device 211, a placing platform 212, a pushing screw 213 and a clamping slide block 214. Wherein the pressure measuring device 211 is mounted on the adapter plate 140; the placing platform 212 is placed on the pressure measuring device 211, four clamping sliding blocks 214 which are symmetrically and orthogonally arranged are arranged in the placing platform, and clamping and disassembling of the clamping sliding blocks on the lower bottom plate 210 of the testing platform are completed by pushing screws 213 in and out.
The piezoelectric vibrator is fixed on the upper surface of the lower plate 220.
The support means includes a rear support plate 231, side plates 232, a slider mount 233 and a stop 234. Wherein, the back supporting plate 231 is fixed on the bottom plate 110, two side plates 232 are symmetrically connected to two sides of the back supporting plate 231, and a notch is arranged above the side plate 232 for installing a sliding block installation seat 233; the block 234 is symmetrically connected to the inner side of the side plate 232, and the slider mounting seat 233 is fixedly connected to the upper surface of the block.
The moving device includes a guide rail 251, a slider 252, and a slider 253; the guide rail 251 is mounted on the slider mounting seat 233; the sliding member 253 is i-shaped, and is disposed on the side surface of the sliding block mounting seat 233, so that the sliding block mounting seat 233 is located between the upper end and the lower end of the sliding member 253; the lower end of the sliding piece 253 is connected with the guide rail 251 through a sliding block 252 and can move on the guide rail 251; the bottom of the sliding piece 253 is adhered with a friction plate 020.
The load applying device is used for applying loads with different magnitudes of the piezoelectric motor, and comprises a roller seat 241, a groove-type bearing roller 242 and a weight 243. Wherein, the two roller seats 241 are symmetrically arranged at the outer sides of the side plates and are positioned at the two sides of the slider mounting seat 233; the groove-shaped bearing roller 242 is arranged between the two through holes of the roller seat 241, and the two through holes of the roller seat 241 and the inner holes of the groove-shaped bearing roller 242 are connected by using a step screw; the weight 243 is connected to the sliding member 253 through a thin cotton thread, the thin cotton thread is placed in the notch of the groove-shaped bearing roller 242, the weight naturally falls under the test state, and the weight specifications are different under different test conditions.
The magnetic grating ruler displacement sensor is used for measuring the speed and the displacement in the operation of the piezoelectric motor and comprises a magnetic grating ruler 261, a magnetic grating ruler displacement sensor head 262 and a sensor connecting piece 263. The sensor connector 263 is fixed at the center of the slider mount 233; the magnetic grid ruler displacement sensor head 262 is fixedly connected with the sensor connecting piece 263; the magnetic grating 261 is adhered to the upper surface of the top end of the slider 253, and is arranged parallel to the magnetic grating displacement sensor head 262.
The motorized guide rail includes a motor 271, a ball screw 272, a wire rail 273, a wire rail slider 274, and a motorized guide rail base plate 275. The electric guide rail bottom plate 275 is installed on the rear support plate 231, and the electric guide rail bottom plate 275 is installed with a wire rail 273 along the length direction; one end of the ball screw 272 is connected with a motor 271 on the side surface of the electric guide rail bottom plate 275, and the other end of the ball screw passes through an angular contact bearing on the electric guide rail bottom plate 275; the linear rail slide block 274 is mounted on the ball screw 272, and the linear rail slide block 274 is constrained by the linear rail 273 and moves linearly along the ball screw direction under the rotation of the motor.
The contact force sensing means includes a connection hinge 281 and a pull pressure sensor 282. The inner side of the connecting hinge 281 is fixedly connected with the wire rail slide block 274, and the outer side of the connecting hinge is connected with the tension pressure sensor 282; in the test case, the pull pressure sensor 282 is located on the moving surface of the slider 253 under the action of the connecting hinge, and is used for measuring the static and dynamic contact force of the piezoelectric motor.
As shown in fig. 3, the driving and controlling system comprises a micro-control unit, a motor driver, a signal generator, a power amplifier and a signal acquisition card. The motor driver is used for driving the motor in the pre-pressure applying platform and the motor in the testing platform to operate respectively; the signal generator and the power amplifier are responsible for generating signal voltage for the work of the piezoelectric motor; the signal acquisition card is used for collecting data signals of the pressure sensor, the magnetic grating ruler displacement sensor and the tension pressure sensor, carrying out signal modulation processing, and transmitting the processed data signals to the micro control unit; the micro control unit is responsible for receiving signals of the signal acquisition card, processing signal data from the signal acquisition card, transmitting the processed signal data to the instruction and data acquisition panel, receiving instruction signals and controlling motor driver actions and inputting required signal voltages by the piezoelectric motor.
As shown in fig. 4, the command and data collection panel acquires input waveform signals, a pre-pressure curve, a speed, a displacement curve and a contact force change curve in real time and displays corresponding average speeds, pre-pressures, friction forces and friction coefficients; the instruction and data collection panel is connected with the driving and controlling system through a serial port, can set frequency, voltage, waveform and phase initialization parameters, provides motion control instruction settings such as precompression instruction setting, circulation, pulse control and the like, can test static contact force and dynamic contact force of the piezoelectric motor, and stores related test data; meanwhile, the instructions can realize automatic testing and collect related test data to complete a relational database.
A method for testing by adopting the testing device of the miniature linear piezoelectric motor can manually or automatically obtain a relational database in the testing method. The method comprises the following steps:
s1, the position of the piezoelectric vibrator 010 is adjusted through the R-axis rotary displacement table 130, so that the piezoelectric vibrator 010 is positioned at the center of the lower base plate 220 and is kept parallel to the friction plate 020, and the pre-compression force applied to the piezoelectric vibrator is zero.
The precompression is zero, namely the stage that the piezoelectric vibrator 010 is not contacted with the friction plate 020 and has no acting force, and the precompression result is cleared by weight reduction calculation to process the numerical value at the pressure sensor. The pressure sensor can monitor the dead weight of the placing platform 212, the pushing screw 213, the clamping slide block 214, the upper piezoelectric vibrator 010 and the lower bottom plate 220 thereof and the pre-pressure of the platform, and the weight reduction is set in advance in the initial stage, so that the pre-pressure applied to the piezoelectric vibrator is displayed as zero.
S2, giving initial resonant frequency, input signals, pre-pressure and load voltage to the piezoelectric motor through the instruction and data collection panel, so that the piezoelectric motor can be driven in a left-right direction in an idle mode.
The initial resonant frequency is obtained through an impedance analyzer; the input signal includes, but is not limited to, sine waves, square waves, triangular waves. The input signal is realized through a signal generator and a power amplifier; the signal generator and the power amplifier can obtain signals of different types, amplitude values, frequencies and phase differences so as to meet the test input signal requirements of different types of linear piezoelectric motors; the pre-pressure is obtained from the pressure sensor, weight reduction is set in advance in the initial stage, and the pre-pressure applied to the piezoelectric vibrator can be directly read out on the instruction and data collection panel.
S3, sequentially giving different frequency signals to the piezoelectric vibrator from low to high near the initial resonant frequency, sending different pre-pressure instructions for controlling a pre-pressure applying device through an instruction and data collecting panel, acquiring and recording the relationship data of the idle speed and the pre-pressure under different frequencies, and acquiring the optimal resonant frequency of the piezoelectric vibrator through the relationship data; setting the optimal resonant frequency as an input frequency through an instruction and data collection panel, setting different input voltages, sending different pre-pressure instructions, and acquiring the relationship data of the idle speed and the pre-pressure under different input voltages; weights with different weights are added through a load applying device, an optimal resonant frequency is set to be input frequency through an instruction and data collecting panel, voltage is set to be initial voltage, different pre-pressure instructions are sent, relation data between the load speed and the pre-pressure under different loads are obtained, and the optimal pre-pressure under the load of the piezoelectric vibrator is obtained through the relation data; and setting the optimal resonant frequency as the input frequency and the precompression as the optimal precompression through the instruction and data collection panel, setting different input voltages, and obtaining the relationship data between the load speed and the voltage under different loads under the optimal precompression and the optimal resonant frequency.
The range of the resonance frequency values near the initial resonance frequency is within +/-20 kHz of the initial resonance frequency, and 1kHz is selected at intervals; the added loads with different magnitudes are determined by the self performance of the piezoelectric motors, and the loads required to be tested by the different piezoelectric motors are different in weight; the magnitude of the load is arranged by weights of different masses.
And S4, under the condition that the piezoelectric vibrator has no input signal, different pre-pressure instructions are sent by the instruction and data collection panel to adjust the pre-pressure value born by the piezoelectric vibrator, the sliding piece 253 is manually connected with the pulling pressure sensor 282, the electric guide rail 270 actively moves the sliding piece 253 at a uniform speed, and the pulling pressure sensor 282 obtains the static contact force under different pre-pressure conditions. Obtaining friction coefficients under different pre-pressure conditions under the condition of no signal through calculation; setting the optimal resonance frequency as the input frequency through the instruction and data collection panel, setting different input voltages, sending different precompression instructions to adjust precompression values born by the piezoelectric vibrator, blocking the testing surface of the tension pressure sensor 282 by the sliding piece 253, acquiring the dynamic contact force under different precompression conditions under the stress balance condition, further acquiring the relation data between the optimal resonance frequency, the dynamic contact force under different precompression conditions and the voltage, and obtaining the friction coefficient under different input voltages through calculation; and acquiring data of dynamic contact force and friction coefficient under different friction interfaces by replacing friction plates with different roughness and different materials. The friction coefficient calculation formula is as follows:
wherein F is N To the magnitude of the precompression, F d Is the static contact force, mu d Is the coefficient of friction.
The data of the relationship data of the idle speed and the precompression under different frequencies, the relationship data of the idle speed and the precompression under different input voltages, the optimal resonant frequency, the optimal precompression, the relationship data of the load speed and the precompression under different loads, the friction coefficient under the condition of no signal, the relationship data of the dynamic contact force and the voltage under different precompressions, the friction coefficient under different input voltages, the dynamic contact force under different friction interfaces and the data of the friction coefficient can be subjected to data integration through instructions and a data collection panel and are subjected to data processing by a computer, a systematic test database can be obtained aiming at different linear piezoelectric motors, data visualization is realized, and data support is provided for optimization, assembly and control of the linear piezoelectric motors.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The device is characterized by comprising a piezoelectric motor, a precompression applying platform, a testing platform, a driving and controlling system and an instruction and data collecting panel;
the piezoelectric motor is a test piece and is fixed on a test platform, the test platform is arranged above the precompression applying platform, the precompression applying platform provides and extracts precompression borne by the piezoelectric motor, the test platform extracts various parameters in the test process, and a relational database of the precompression, voltage, speed, frequency and friction of the piezoelectric motor is established.
2. The testing device of a miniature linear piezoelectric motor according to claim 1, wherein the pre-pressure applying platform comprises a base plate (110), an electric Z-axis sliding table (120), an R-axis rotary displacement table (130) and an adapter plate (140); the electric Z-axis sliding table (120) is fixed on the bottom plate (110), is driven by a stepping motor, converts the rotating motion of the stepping motor into horizontal linear motion, and converts the horizontal linear motion into vertical linear motion through an inclined plane mechanism, so as to be used for giving the pre-pressure required by the piezoelectric motor; the lower surface of the R-axis rotary displacement table (130) is connected with the sliding table surface of the electric Z-axis sliding table (120), and the upper surface of the R-axis rotary displacement table is connected with the adapter plate (140); the R-axis rotary displacement table (130) is provided with a manual knob, and the adapter plate (140) is rotated through the manual knob to control the position of the piezoelectric motor.
3. A testing device for a micro linear piezoelectric motor according to claim 1 or 2, wherein the testing platform comprises a pressure sensor, a lower plate (220), a supporting device, a moving device, a load applying device, a magnetic scale displacement sensor, an electric guide rail and a contact force sensing device;
the pressure sensor is used for monitoring the pre-pressure applied to the piezoelectric motor and comprises a pressure measuring device (211), a placing platform (212), a pushing screw (213) and a clamping sliding block (214); wherein the pressure measuring device (211) is arranged on the adapter plate (140); the placing platform (212) is arranged on the pressure measuring device (211), four clamping sliding blocks (214) which are symmetrically and orthogonally arranged are arranged in the placing platform, and clamping and disassembling of the clamping sliding blocks on the lower bottom plate (220) of the testing platform are completed by pushing screws (213) in and out;
the upper surface of the lower bottom plate (220) is fixed with a piezoelectric vibrator;
the supporting device comprises a rear supporting plate (231), a side plate (232), a sliding block mounting seat (233) and a stop block (234); wherein, the back supporting plate (231) is fixed on the bottom plate (110), two side plates (232) are symmetrically connected at two sides of the back supporting plate (231), and a notch is arranged above the side plate (232) and used for installing a sliding block installation seat (233); the stop block (234) is symmetrically connected to the inner side of the side plate (232), and the sliding block mounting seat (233) is fixedly connected with the upper surface of the stop block (234);
the moving device comprises a guide rail (251), a sliding block (252) and a sliding piece (253); the guide rail (251) is arranged on the sliding block mounting seat (233); the sliding piece (253) is arranged on the side surface of the sliding block installation seat (233) and enables the sliding block installation seat (233) to be positioned between the upper end and the lower end of the sliding piece (253); the lower end of the sliding piece (253) is connected with the guide rail (251) through a sliding block (252) and can move on the guide rail (251); a friction plate is bonded at the bottom of the sliding piece (253);
the load applying device is used for applying loads with different magnitudes to the piezoelectric motor and comprises a roller seat (241), a groove-type bearing roller (242) and a weight (243); wherein, the two roller seats (241) are symmetrically arranged at the outer sides of the side plates (232) and are positioned at the two sides of the sliding block mounting seat (233); the groove-shaped bearing roller (242) is arranged between two through holes of the roller seat (241), and the two through holes of the roller seat (241) are connected with an inner hole of the groove-shaped bearing roller (242) by using a step screw; the weight (243) is connected with the sliding piece (253) through a thin cotton thread, the thin cotton thread is placed in a notch of the groove-shaped bearing roller (242), and the weight naturally falls down in a test state;
the magnetic grating ruler displacement sensor is used for measuring the speed and the displacement of the piezoelectric motor in operation and comprises a magnetic grating ruler (261), a magnetic grating ruler displacement sensor head (262) and a sensor connecting piece (263); the sensor connecting piece (263) is fixed at the center of the sliding block mounting seat (233); the magnetic grid ruler displacement sensor head (262) is fixedly connected with the sensor connecting piece (263); the magnetic grating ruler (261) is adhered to the upper surface of the top end of the sliding piece (253), and is arranged in parallel with the magnetic grating ruler displacement sensor head (262);
the electric guide rail comprises a motor (271), a ball screw (272), a wire rail (273), a wire rail sliding block (274) and an electric guide rail bottom plate (275); the electric guide rail bottom plate (275) is arranged on the rear supporting plate (231), and the electric guide rail bottom plate (275) is provided with a wire rail (273) along the length direction; one end of the ball screw (272) is connected with a motor (271) on the side surface of the electric guide rail bottom plate (275), and the other end of the ball screw penetrates through an angular contact bearing on the electric guide rail bottom plate (275); the linear rail sliding block (274) is arranged on the ball screw (272), and the linear rail sliding block (274) is constrained by the linear rail (273) and moves linearly along the direction of the ball screw under the rotation of the motor;
the contact force sensing device comprises a connecting hinge (281) and a pulling pressure sensor (282); the inner side of the connecting hinge (281) is fixedly connected with the wire rail slide block (274), and the outer side of the connecting hinge is connected with the tension pressure sensor (282); in the test case, a pull pressure sensor (282) is located on the moving surface of the slider (253) under the action of the connecting hinge, for determining the magnitude of the static and dynamic contact force of the piezo motor.
4. The test device of claim 1 or 2, wherein the driving and controlling system comprises a micro control unit, a motor driver, a signal generator, a power amplifier and a signal acquisition card; the motor driver is used for driving the motor in the pre-pressure applying platform and the motor in the testing platform to operate respectively; the signal generator and the power amplifier are responsible for generating signal voltage for the work of the piezoelectric motor; the signal acquisition card is used for collecting data signals of the pressure sensor, the magnetic grating ruler displacement sensor and the tension pressure sensor, carrying out signal modulation processing, and transmitting the processed data signals to the micro control unit; the micro control unit is responsible for receiving signals of the signal acquisition card, processing signal data from the signal acquisition card, transmitting the processed signal data to the instruction and data acquisition panel, receiving instruction signals and controlling motor driver actions and inputting required signal voltages by the piezoelectric motor.
5. The test device of a micro linear piezoelectric motor according to claim 1 or 2, wherein the command and data collection panel acquires the input waveform signal, the pre-pressure curve, the speed, the displacement curve, the contact force variation curve in real time and displays the corresponding average speed, pre-pressure, friction force and friction coefficient; the instruction and data collection panel is connected with the driving and controlling system through a serial port, frequency, voltage, waveform and phase initialization parameters are set, precompression instruction setting, circulation and pulse control instruction setting are provided, static contact force and dynamic contact force of the piezoelectric motor are tested, and test data are stored; meanwhile, the instructions realize automatic testing, and collect relevant test data to complete a relational database.
6. A method of testing with a test device for a miniature linear piezoelectric motor according to any one of claims 1 to 5, the method comprising the steps of:
s1, adjusting the position of a piezoelectric vibrator through an R-axis rotary displacement table (130) so that the piezoelectric vibrator is positioned in the center of a lower bottom plate (220) and is parallel to a friction plate, and enabling the pre-compression force born by the piezoelectric vibrator to be zero;
s2, giving initial resonant frequency, input signals, pre-pressure and load voltage to the piezoelectric motor through the instruction and data collection panel, so that the piezoelectric motor can be driven in a left-right direction in an idle mode;
s3, sequentially giving different frequency signals to the piezoelectric motor from low to high near the initial resonant frequency, sending different pre-pressure instructions for controlling the pre-pressure applying device through the instruction and data collecting panel, acquiring and recording the relationship data of the idle speed and the pre-pressure under different frequencies, and acquiring the optimal resonant frequency of the piezoelectric vibrator through the relationship data; setting the optimal resonant frequency as an input frequency through an instruction and data collection panel, setting different input voltages, sending different pre-pressure instructions, and acquiring the relationship data of the idle speed and the pre-pressure under different input voltages; weights with different weights are added through a load applying device, an optimal resonant frequency is set to be input frequency through an instruction and data collecting panel, voltage is set to be initial voltage, different pre-pressure instructions are sent, relation data between the load speed and the pre-pressure under different loads are obtained, and the optimal pre-pressure under the load of the piezoelectric vibrator is obtained through the relation data; setting the optimal resonant frequency as the input frequency and the precompression as the optimal precompression through the instruction and data collection panel, setting different input voltages, and obtaining the relationship data between the load speed and the voltage under different loads under the optimal precompression and the optimal resonant frequency;
s4, under the condition that the piezoelectric vibrator has no input signal, different pre-pressure instructions are sent by the instruction and data collection panel to adjust the pre-pressure value born by the piezoelectric vibrator, the sliding piece (253) is manually connected with the pulling pressure sensor (282), the electric guide rail (270) actively moves the sliding piece (253) at a uniform speed, and the pulling pressure sensor (282) obtains static contact force under different pre-pressure conditions; obtaining friction coefficients under different pre-pressure conditions under the condition of no signal through calculation; the optimal resonance frequency is set as the input frequency through the instruction and data collection panel, different input voltages are set, different precompression instructions are sent to adjust precompression values born by the piezoelectric vibrator, the sliding piece (253) is blocked by the test surface of the tension pressure sensor (282), the dynamic contact force under different precompression conditions is obtained under the stress balance condition, further, the relation data between the optimal resonance frequency, the dynamic contact force under different precompression conditions and the voltage are obtained, and the friction coefficient under different input voltages is obtained through calculation; and acquiring data of dynamic contact force and friction coefficient under different friction interfaces by replacing friction plates with different roughness and different materials.
7. The method according to claim 6, wherein in step S1, the precompression is zero, and the precompression result is cleared by processing the value at the pressure sensor through weight reduction calculation at a stage where the zero-finger piezoelectric vibrator is not in contact with the friction plate and no force is applied.
8. The method according to claim 6 or 7, wherein in step S2, the initial resonance frequency is obtained by an impedance analyzer; the input signal comprises sine waves, square waves and triangular waves; the input signal is realized through a signal generator and a power amplifier; the pre-pressure is obtained from the pressure sensor, weight reduction is set in advance in the initial stage, and the pre-pressure applied to the piezoelectric vibrator is directly read out on the instruction and data collection panel.
9. The method according to claim 6 or 7, wherein in step S3, the range of resonance frequency values around the initial resonance frequency is within ±20khz of the initial resonance frequency, and 1 to 5kHz is selected at intervals.
10. The method according to claim 6 or 7, wherein in step S4, the friction coefficient calculation formula is:
wherein F is N To the magnitude of the precompression, F d Is the static contact force, mu d Is the coefficient of friction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311429459.9A CN117388687A (en) | 2023-10-31 | 2023-10-31 | Testing device and method for miniature linear piezoelectric motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311429459.9A CN117388687A (en) | 2023-10-31 | 2023-10-31 | Testing device and method for miniature linear piezoelectric motor |
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