CN211720488U - Sandwich type multi-mode composite rotary piezoelectric actuator - Google Patents
Sandwich type multi-mode composite rotary piezoelectric actuator Download PDFInfo
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- CN211720488U CN211720488U CN202020199217.0U CN202020199217U CN211720488U CN 211720488 U CN211720488 U CN 211720488U CN 202020199217 U CN202020199217 U CN 202020199217U CN 211720488 U CN211720488 U CN 211720488U
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Abstract
The utility model discloses a sandwich type multi-mode composite rotary piezoelectric actuator, which comprises a driving ring, a connecting rod, a rectangular beam, a piezoelectric element group, a balancing weight and a connecting bolt; one end of the rectangular beam is fixedly connected with the side wall of the driving circular ring through a connecting rod, and the other end of the rectangular beam is provided with a threaded hole matched with the connecting bolt; a countersunk through hole is arranged on the balancing weight; the connecting bolt sequentially penetrates through the countersunk through hole in the balancing weight and the piezoelectric element group and then is in threaded connection with the threaded hole in the rectangular beam, and the piezoelectric element group is fixed between the rectangular beam and the balancing weight to form a sandwich type straight beam; and m driving teeth are uniformly arranged on one end surface of the driving ring in the circumferential direction. The utility model discloses utilize piezoelectric material's inverse piezoelectric effect to convert the electric energy into mechanical energy, do not need complicated transmission and reduction gears, simple structure is compact, easily realizes the miniaturization, and can work under strong magnetic field and the vacuum environment.
Description
Technical Field
The utility model relates to a piezoelectricity drive technique and two degree of freedom joint module technical field especially relate to a compound rotatory piezoelectric actuator of sandwich formula multimode.
Background
The robot joint module is usually driven by a motor and a hydraulic pressure to realize the movement of the joint module and the whole robot. With the continuous expansion of the application range of the mechanical arm in the scientific research field, some special working occasions have higher requirements on the driving technology of the joint module, such as no interference of a strong magnetic field, vacuum environment operation, a micro structure and the like. Electromagnetic motor can't normally work in the strong magnetic field environment, and hydraulic drive can't effectively work under the vacuum environment, and these two kinds of modes of actuating all have the mechanism redundancy to be unfavorable for the miniaturization. Sandwich piezoelectric transducers are widely used in the field of actuators as a device for converting electrical energy to mechanical energy.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the defect that involves in the background art, a compound rotatory piezoelectric actuator of sandwich formula multimode is provided.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
a sandwich type multi-mode composite rotary piezoelectric actuator comprises a driving circular ring, a connecting rod, a rectangular beam, a piezoelectric element group, a balancing weight and a connecting bolt;
the rectangular beam is a cuboid and comprises first to fourth side faces and two end faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face;
the connecting rod is a cylinder, and one end face of the connecting rod is fixedly connected with one end face of the rectangular beam; the other end face of the connecting rod is an arc face and is fixedly connected with the side face of the driving circular ring;
the connecting rod and the rectangular beam are coaxial, the axis of the connecting rod passes through the center of the driving circular ring, and two end surfaces of the driving circular ring are parallel to the first side surface of the rectangular beam;
the center of the end face of the rectangular beam, which is far away from the connecting rod, is provided with a threaded hole matched with the connecting bolt;
the piezoelectric element group comprises first to fourth torsional vibration piezoelectric elements and first to second flexural vibration piezoelectric elements; the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element, the third torsional vibration piezoelectric element, the fourth torsional vibration piezoelectric element, the third flexural vibration piezoelectric element and the fourth flexural vibration piezoelectric element are rectangular sheets, and a through hole for the connecting bolt to pass through is formed in the center of each of the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element and the third flexural vibration piezoelectric element;
a countersunk through hole is formed in the balancing weight; the connecting bolt sequentially penetrates through a countersunk head through hole, a fourth torsional piezoelectric element, a third torsional piezoelectric element, a second flexural piezoelectric element, a first flexural piezoelectric element, a second torsional piezoelectric element and a first torsional piezoelectric element on the balancing weight and then is in threaded connection with a threaded hole on the rectangular beam, and the piezoelectric element group is fixed between the rectangular beam and the balancing weight; the rectangular beam, the piezoelectric element group, the balancing weight and the connecting bolt form a sandwich type straight beam;
the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element and the fourth torsional vibration piezoelectric element are four-section piezoelectric elements, and are polarized along the circumferential direction of a central through hole of each piezoelectric element, and the polarization directions are the same;
the first bending vibration piezoelectric element, the second bending vibration piezoelectric element and the third bending vibration piezoelectric element are divided into two sub-areas, the sub-areas are polarized along the thickness direction, and the polarization directions of the two sub-areas are opposite; the polarization directions of the first bending vibration piezoelectric element and the second bending vibration piezoelectric element are opposite;
m driving teeth are uniformly arranged on one end face of the driving circular ring in the circumferential direction, and m is a natural number more than or equal to 3;
and the balancing weight is also provided with a mounting hole for fixing the sandwich type multi-mode composite type rotary piezoelectric actuator.
As the utility model relates to a further optimization scheme of compound rotatory piezoelectric actuator of sandwich multi-mode, the balancing weight is the cylindricality, and balancing weight and rectangular beam are isometric, and the piezoelectric element group is located the node position of the vibration of the straight roof beam of sandwich in the vibration mode.
The utility model also discloses a single mode of this compound rotatory piezoelectric actuator of sandwich formula multimode actuates the method, including following step:
step A.1), applying a first simple harmonic voltage signal to first to fourth torsional vibration piezoelectric elements to excite a 2n +1 order torsional vibration mode of a sandwich type straight beam, wherein n is an integer greater than or equal to 0, the torsional vibration mode can excite a driving circular ring to generate an m order out-of-plane bending vibration mode, the motion track of each driving tooth is an ellipse under the simple harmonic vibration, and an external rotor in contact with the driving teeth is driven to rotate along one direction under the friction action;
step A.2), if the external rotor needs to be driven to rotate reversely, the first simple harmonic voltage signal is applied to the first torsional vibration piezoelectric element to the fourth torsional vibration piezoelectric element, the second simple harmonic voltage signal is applied to the first torsional vibration piezoelectric element to the second torsional vibration piezoelectric element, a 2n + 2-order bending vibration mode of the sandwich type straight beam is excited, the bending vibration mode can excite the driving circular ring to generate another m-order out-of-plane bending vibration mode, the m-order out-of-plane bending vibration mode and the torsional vibration excited m-order out-of-plane bending vibration mode have a phase difference of pi/2 in space, so that the motion trajectory of each driving tooth at the moment is a reverse ellipse, and the external rotor in contact with the driving tooth is driven to rotate reversely under the friction action.
The utility model also discloses a compound mode of this compound rotatory piezoelectric actuator of sandwich formula multimode actuates the method, including following step:
step B.1), applying a first simple harmonic voltage signal to the first torsional vibration piezoelectric element to the fourth torsional vibration piezoelectric element, applying a second simple harmonic voltage signal to the first torsional vibration piezoelectric element to the second torsional vibration piezoelectric element, driving the circular ring to generate two standing waves with pi/2 space phase difference under excitation, adjusting the first simple harmonic voltage signal and the second simple harmonic voltage signal to enable the first simple harmonic voltage signal and the second simple harmonic voltage signal to have pi/2 phase difference in time, enabling the two standing waves of the driving circular ring to be superposed into a traveling wave, enabling each driving tooth to move along an elliptic track under the traveling wave, and driving an external rotor in contact with the driving teeth to rotate along one direction under the friction action;
2) if the external rotor needs to be driven to rotate reversely, the first simple harmonic voltage signal and the second simple harmonic voltage signal are adjusted to have a phase difference of-pi/2 in time, the driving teeth do reverse elliptic motion, and the external rotor in contact with the driving teeth is driven to rotate reversely under the friction action.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
the utility model discloses with retrench mechanism, reduce control system complexity, improve system reliability and realize miniaturation for the target, proposed based on the compound rotary piezoelectric actuator of sandwich formula multimode of inverse piezoelectric effect and frictional action driven, can realize characteristics such as the positive and negative rotation of rotor and system compact structure, simple, direct drive, no electromagnetic interference, miniaturization, can work under the extreme environment such as vacuum high-intensity magnetic field.
Drawings
FIG. 1 is a schematic structural diagram of a sandwich multi-mode composite rotary piezoelectric actuator;
FIG. 2 is a cross-sectional view of a sandwich multi-mode composite rotary piezoelectric actuator;
FIG. 3 is a schematic view showing how the piezoelectric element group is mounted;
fig. 4 is a schematic view of polarization directions of the first to fourth torsional piezoelectric elements;
FIG. 5 is a schematic view showing the polarization directions of the first and second bending piezoelectric elements;
FIG. 6 is a schematic diagram showing an electric signal application manner of a piezoelectric element group;
FIG. 7 is a schematic view of the working mode of sandwich type straight beam torsional vibration;
FIG. 8 is a schematic view of the working mode of bending vibration of the sandwich type straight beam;
FIG. 9 is a schematic diagram of the fourth order out-of-plane bending mode of operation of the drive ring (expanded) under torsional excitation;
FIG. 10 is a schematic diagram of the fourth order out-of-plane bending mode of operation of the drive ring (expanded) under bending excitation;
FIG. 11 is a schematic diagram of the motion locus of the driving tooth under two four-step out-of-plane bending vibration working modes.
In the figure, 1-driving circular ring, 2-connecting rod, 3-driving tooth, 4-rectangular beam, 5-piezoelectric element group, 6-balancing weight, 7-mounting hole, 8-countersunk through hole, 9-first to fourth torsional vibration piezoelectric element, 10-first to second bending vibration piezoelectric element, and 11-connecting bolt.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1 and 2, the utility model discloses a sandwich type multi-mode composite rotary piezoelectric actuator, which comprises a driving ring, a connecting rod, a rectangular beam, a piezoelectric element group, a balancing weight and a connecting bolt;
the rectangular beam is a cuboid and comprises first to fourth side faces and two end faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face;
the connecting rod is a cylinder, and one end face of the connecting rod is fixedly connected with one end face of the rectangular beam; the other end face of the connecting rod is an arc face and is fixedly connected with the side face of the driving circular ring;
the connecting rod and the rectangular beam are coaxial, the axis of the connecting rod passes through the center of the driving circular ring, and two end surfaces of the driving circular ring are parallel to the first side surface of the rectangular beam;
the center of the end face of the rectangular beam, which is far away from the connecting rod, is provided with a threaded hole matched with the connecting bolt;
the piezoelectric element group comprises first to fourth torsional vibration piezoelectric elements and first to second flexural vibration piezoelectric elements; the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element, the third torsional vibration piezoelectric element, the fourth torsional vibration piezoelectric element, the third flexural vibration piezoelectric element and the fourth flexural vibration piezoelectric element are rectangular sheets, and a through hole for the connecting bolt to pass through is formed in the center of each of the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element and the third flexural vibration piezoelectric element;
a countersunk through hole is formed in the balancing weight; the connecting bolt sequentially penetrates through a countersunk head through hole, a fourth torsional piezoelectric element, a third torsional piezoelectric element, a second flexural piezoelectric element, a first flexural piezoelectric element, a second torsional piezoelectric element and a first torsional piezoelectric element on the balancing weight and then is in threaded connection with a threaded hole on the rectangular beam, and the piezoelectric element group is fixed between the rectangular beam and the balancing weight as shown in fig. 3; the rectangular beam, the piezoelectric element group, the balancing weight and the connecting bolt form a sandwich type straight beam;
as shown in fig. 4, the first to fourth torsional piezoelectric elements are quarter piezoelectric elements, which are polarized along the circumferential direction of the central through hole and have the same polarization direction;
as shown in fig. 5, the first to second bending vibration piezoelectric elements are divided piezoelectric elements, and are polarized in the thickness direction and the polarization directions of the divided areas are opposite; the polarization directions of the first bending vibration piezoelectric element and the second bending vibration piezoelectric element are opposite;
m driving teeth are uniformly arranged on one end face of the driving circular ring in the circumferential direction, and m is a natural number more than or equal to 3;
and the balancing weight is also provided with a mounting hole for fixing the sandwich type multi-mode composite type rotary piezoelectric actuator.
As the utility model relates to a further optimization scheme of compound rotatory piezoelectric actuator of sandwich multi-mode, the balancing weight is the cylindricality, and balancing weight and rectangular beam are isometric, and the piezoelectric element group is located the node position of the vibration of the straight roof beam of sandwich in the vibration mode.
The utility model also discloses a single mode of this compound rotatory piezoelectric actuator of sandwich formula multimode actuates the method, including following step:
step A.1), applying a first simple harmonic voltage signal to the first to fourth torsional piezoelectric elements, as shown in FIG. 6, exciting a 2n +1 order torsional vibration mode of the sandwich type straight beam, as shown in FIG. 7, where n is an integer greater than or equal to 0, the torsional vibration mode exciting the driving ring to generate an m order out-of-plane bending vibration mode, as shown in FIG. 9, wherein the motion trajectory of each driving tooth is an ellipse under simple harmonic vibration, as shown in FIG. 10, and an external rotor in contact with the driving teeth is driven to rotate in one direction under the action of friction;
step A.2), if the external rotor needs to be driven to rotate reversely, the first simple harmonic voltage signal is not applied to the first torsional vibration piezoelectric element to the fourth torsional vibration piezoelectric element, the second simple harmonic voltage signal is applied to the first bending vibration piezoelectric element to the second bending vibration piezoelectric element, as shown in fig. 6, and a 2n + 2-order bending vibration mode of the sandwich type straight beam is excited, as shown in fig. 8. It should be noted that the bending mode order of the sandwich type straight beam is higher than the torsional mode order by one order, so that the piezoelectric element group is always located at the node position of the vibration mode. The bending vibration mode excites the driving ring to generate another m-order out-of-plane bending vibration mode, as shown in fig. 10, the m-order out-of-plane bending vibration mode and the m-order out-of-plane bending vibration mode excited by torsional vibration have pi/2 phase difference in space, so that the motion trail of each driving tooth at the moment is a reverse ellipse, as shown in fig. 11, and an external rotor in contact with the driving tooth is driven to rotate in a reverse direction under the action of friction.
The utility model also discloses a compound mode of this compound rotatory piezoelectric actuator of sandwich formula multimode actuates the method, including following step:
step B.1), applying a first simple harmonic voltage signal to the first torsional vibration piezoelectric element to the fourth torsional vibration piezoelectric element, applying a second simple harmonic voltage signal to the first flexural vibration piezoelectric element to the second flexural vibration piezoelectric element, driving the circular ring to generate two standing waves with pi/2 space phase difference under excitation, adjusting the first simple harmonic voltage signal and the second simple harmonic voltage signal to ensure that the first simple harmonic voltage signal and the second simple harmonic voltage signal also have pi/2 phase difference in time, so that the two standing waves of the driving circular ring are superposed to form a traveling wave, each driving tooth moves along an elliptical track under the traveling wave, the elliptical track has a smaller ratio of a major axis to a minor axis relative to an elliptical track caused by the standing waves, the ellipse is more circular, and an external rotor in contact with the driving tooth is driven to rotate along one direction under the friction action;
2) if the external rotor needs to be driven to rotate reversely, the first simple harmonic voltage signal and the second simple harmonic voltage signal are adjusted to have a phase difference of-pi/2 in time, the driving teeth do reverse elliptic motion, and the external rotor in contact with the driving teeth is driven to rotate reversely under the friction action.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. A sandwich type multi-mode composite rotary piezoelectric actuator is characterized by comprising a driving circular ring, a connecting rod, a rectangular beam, a piezoelectric element group, a balancing weight and a connecting bolt;
the rectangular beam is a cuboid and comprises first to fourth side faces and two end faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face;
the connecting rod is a cylinder, and one end face of the connecting rod is fixedly connected with one end face of the rectangular beam; the other end face of the connecting rod is an arc face and is fixedly connected with the side face of the driving circular ring;
the connecting rod and the rectangular beam are coaxial, the axis of the connecting rod passes through the center of the driving circular ring, and two end surfaces of the driving circular ring are parallel to the first side surface of the rectangular beam;
the center of the end face of the rectangular beam, which is far away from the connecting rod, is provided with a threaded hole matched with the connecting bolt;
the piezoelectric element group comprises first to fourth torsional vibration piezoelectric elements and first to second flexural vibration piezoelectric elements; the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element, the third torsional vibration piezoelectric element, the fourth torsional vibration piezoelectric element, the third flexural vibration piezoelectric element and the fourth flexural vibration piezoelectric element are rectangular sheets, and a through hole for the connecting bolt to pass through is formed in the center of each of the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element and the third flexural vibration piezoelectric element;
a countersunk through hole is formed in the balancing weight; the connecting bolt sequentially penetrates through a countersunk head through hole, a fourth torsional piezoelectric element, a third torsional piezoelectric element, a second flexural piezoelectric element, a first flexural piezoelectric element, a second torsional piezoelectric element and a first torsional piezoelectric element on the balancing weight and then is in threaded connection with a threaded hole on the rectangular beam, and the piezoelectric element group is fixed between the rectangular beam and the balancing weight; the rectangular beam, the piezoelectric element group, the balancing weight and the connecting bolt form a sandwich type straight beam;
the first torsional vibration piezoelectric element, the second torsional vibration piezoelectric element and the fourth torsional vibration piezoelectric element are four-section piezoelectric elements, and are polarized along the circumferential direction of a central through hole of each piezoelectric element, and the polarization directions are the same;
the first bending vibration piezoelectric element, the second bending vibration piezoelectric element and the third bending vibration piezoelectric element are divided into two sub-areas, the sub-areas are polarized along the thickness direction, and the polarization directions of the two sub-areas are opposite; the polarization directions of the first bending vibration piezoelectric element and the second bending vibration piezoelectric element are opposite;
m driving teeth are uniformly arranged on one end face of the driving circular ring in the circumferential direction, and m is a natural number more than or equal to 3;
and the balancing weight is also provided with a mounting hole for fixing the sandwich type multi-mode composite type rotary piezoelectric actuator.
2. The sandwich multi-mode composite rotary piezoelectric actuator according to claim 1, wherein the weight member is cylindrical, the weight member and the rectangular beam are equal in length, and the piezoelectric element group is located at a node position where the sandwich straight beam vibrates in the vibration mode.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111146971A (en) * | 2020-02-24 | 2020-05-12 | 南京航空航天大学 | Sandwich type multi-mode composite rotary piezoelectric actuator and working method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111146971A (en) * | 2020-02-24 | 2020-05-12 | 南京航空航天大学 | Sandwich type multi-mode composite rotary piezoelectric actuator and working method thereof |
| CN111146971B (en) * | 2020-02-24 | 2024-05-28 | 南京航空航天大学 | Sandwich type multi-mode composite rotary piezoelectric actuator and working method thereof |
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