CN105915105B - A kind of inertial piezoelectric driver - Google Patents
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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- H—ELECTRICITY
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
- H02N2/0055—Supports for driving or driven bodies; Means for pressing driving body against driven body
- H02N2/006—Elastic elements, e.g. springs
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
- H02N2/0065—Friction interface
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- H—ELECTRICITY
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- H—ELECTRICITY
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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- H—ELECTRICITY
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- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
- H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
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Abstract
本发明涉及一种惯性压电驱动器，包括压电振子、质量块、基座和复合悬臂，所述压电振子两端分别固定连接在所述质量块和所述基座上，所述复合悬臂为薄片型结构且由高摩擦弹性材料和低摩擦弹性材料层合构成，所述高摩擦弹性材料的摩擦系数大于所述低摩擦弹性材料的摩擦系数，四个所述复合悬臂布置在基座下表面，压电陶瓷和弹性基板的粘接面与所述基座上表面垂直，所述弹性基板和基座上表面的交线与所述高摩擦弹性材料和低摩擦弹性材料的层合面平行，利用惯性力和复合悬臂两种材料的不同摩擦系数使驱动器产生向前运动，作为一种简单压电驱动装置，可以应用在软体机器人、探测救援、生物医疗等领域，具有结构简单、体积小、适用性强等优点。
The invention relates to an inertial piezoelectric driver, which includes a piezoelectric vibrator, a mass block, a base and a composite cantilever. The two ends of the piezoelectric vibrator are respectively fixedly connected to the mass block and the base. The composite cantilever It is a thin-sheet structure and is composed of a high-friction elastic material and a low-friction elastic material. The friction coefficient of the high-friction elastic material is greater than that of the low-friction elastic material. The four composite cantilevers are arranged under the base surface, the bonding surface of the piezoelectric ceramic and the elastic substrate is perpendicular to the upper surface of the base, and the intersection line between the elastic substrate and the upper surface of the base is parallel to the laminated surface of the high-friction elastic material and the low-friction elastic material , using the inertial force and the different friction coefficients of the two materials of the composite cantilever to make the driver move forward. As a simple piezoelectric drive device, it can be applied in soft robots, detection and rescue, biomedical and other fields, with simple structure and small size. , Applicability and other advantages.
Description
技术领域technical field
本发明属于压电驱动领域，具体涉及一种惯性压电驱动器。The invention belongs to the field of piezoelectric driving, and in particular relates to an inertial piezoelectric driver.
背景技术Background technique
随着科学技术的发展，微型驱动技术在超精密机械及其制造、精密测量、生物医疗等学科领域中占据越来越重要的地位，微型驱动器在民用方面也越来越受到关注。压电陶瓷材料具备高精度、响应快、驱动功率低、工作频率宽、不受电磁干扰等优点，因此近年来，对于由此类元件作为驱动源的精密驱动器得到较快发展。然而，现有的压电式微型驱动器结构相对复杂，加工困难，成本较高，并且多为刚性结构，工作时驱动器直接与工作平面刚性接触，对工作环境的要求相对较高、适用性不强，因此设计一种结构简单、环境适用性强的微小型驱动器十分必要。With the development of science and technology, micro-drive technology occupies an increasingly important position in the fields of ultra-precision machinery and its manufacturing, precision measurement, biomedicine and other disciplines, and micro-drives are also receiving more and more attention in civilian applications. Piezoelectric ceramic materials have the advantages of high precision, fast response, low driving power, wide operating frequency, and immunity to electromagnetic interference. Therefore, in recent years, precision drivers using such components as driving sources have developed rapidly. However, the existing piezoelectric micro-actuators have a relatively complex structure, difficult processing, high cost, and most of them are rigid structures. When working, the driver is directly in rigid contact with the working plane. The requirements for the working environment are relatively high and the applicability is not strong. , so it is necessary to design a micro driver with simple structure and strong environmental applicability.
发明内容Contents of the invention
为解决目前微型压电驱动器结构复杂、适用性不强等问题，提出了一种惯性压电驱动器，该驱动器由压电振子、质量块、基座和复合悬臂构成，压电振子的振动带动质量块振动，利用惯性力使整个驱动器定向运动。本发明与目前驱动器相比，利用了惯性力使复合悬臂产生弯曲变形，由于复合悬臂的两种材料的摩擦系数不同，不同材料接触地面时摩擦力不同，摩擦力小位移大，驱动器可朝向摩擦系数较小的材料一侧运动，环境适用性强，避免了刚性接触，并且结构简单。In order to solve the problems of complex structure and poor applicability of the current micro piezoelectric actuator, an inertial piezoelectric actuator is proposed. The actuator is composed of a piezoelectric vibrator, a mass block, a base and a composite cantilever. The block vibrates, using inertial forces to orientate the entire drive. Compared with the current driver, the present invention utilizes the inertial force to cause the composite cantilever to bend and deform. Since the friction coefficients of the two materials of the composite cantilever are different, the friction force is different when the different materials touch the ground, and the friction force is small and the displacement is large. The side of the material with a smaller coefficient moves, has strong environmental applicability, avoids rigid contact, and has a simple structure.
为了实现上述目的，本发明采用以下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
本发明一种惯性压电驱动器，包括压电振子、质量块和基座，其特征在于还包括复合悬臂，其中：所述压电振子两端分别固定连接在所述质量块和所述基座上；所述复合悬臂为薄片型结构且由高摩擦弹性材料和低摩擦弹性材料层合构成，所述高摩擦弹性材料和所述低摩擦弹性材料都为薄片型结构且尺寸相同，所述高摩擦弹性材料的摩擦系数大于所述低摩擦弹性材料的摩擦系数，四个所述复合悬臂布置在基座下表面，所有的所述低摩擦弹性材料面向同一侧；所述压电振子由压电陶瓷和弹性基板粘接构成，所述压电陶瓷和弹性基板的粘接面与所述基座上表面垂直，所述高摩擦弹性材料和低摩擦弹性材料的层合面与所述弹性基板和基座上表面的交线平行。An inertial piezoelectric driver of the present invention includes a piezoelectric vibrator, a mass block and a base, and is characterized in that it also includes a composite cantilever, wherein: the two ends of the piezoelectric vibrator are respectively fixedly connected to the mass block and the base Above; the composite cantilever has a sheet structure and is composed of a high friction elastic material and a low friction elastic material. Both the high friction elastic material and the low friction elastic material are sheet structure and have the same size. The high The friction coefficient of the friction elastic material is greater than the friction coefficient of the low friction elastic material, the four composite cantilevers are arranged on the lower surface of the base, and all the low friction elastic materials face the same side; the piezoelectric vibrator is composed of piezoelectric Ceramics and elastic substrates are bonded, the bonding surface of the piezoelectric ceramics and the elastic substrate is perpendicular to the upper surface of the base, and the lamination surface of the high friction elastic material and the low friction elastic material is in contact with the elastic substrate and the elastic substrate. The lines of intersection on the upper surface of the base are parallel.
所述复合悬臂的数量还可以为M行N列个，M大于等于2，N大于等于2。所述压电陶瓷和弹性基板的粘接面与所述基座上表面夹角可以不为零，所述低摩擦弹性材料面向所述压电振子的倾斜方向。The number of the composite cantilever can also be M rows and N columns, M is greater than or equal to 2, and N is greater than or equal to 2. The angle between the bonding surface of the piezoelectric ceramic and the elastic substrate and the upper surface of the base may not be zero, and the low-friction elastic material faces the tilt direction of the piezoelectric vibrator.
工作时，压电振子作为动力源在交变电压的作用下发生往复弯曲变形，利用了惯性使复合悬臂产生弯曲变形，又由于复合悬臂的两种材料的摩擦系数不同，不同材料接触地面时摩擦力不同，摩擦力小位移大，驱动器可朝向摩擦系数较小的材料一侧运动。在一个周期内，零到四分之一周期时，压电振子振动，质量块受到压电振子向右的作用力并向右运动，底座受到向左的反作用力并向左运动，复合悬臂弯曲，摩擦系数较大的高摩擦弹性材料接触地面，底座向左运动距离为a，四分之一周期末时驱动器的状态如图3中的上侧图虚线所示，实线为一个周期开始时的初始位置；四分之一到四分之三周期时，质量块受到压电振子向左的作用力并向左运动，底座受到向右的反作用力并向右运动，摩擦系数较小的低摩擦弹性材料接触地面，底座向右运动距离为b，四分之三周期末时驱动器的状态如图3中的中间图虚线所示，实线为一个周期开始时的初始位置；四分之三到一个周期时，质量块受到压电振子向右的作用力并向右运动，底座受到向左的反作用力并向左运动，摩擦系数较大的高摩擦弹性材料接触地面，底座向左运动距离为c，一个周期末时驱动器的状态如图3中的下侧图虚线所示，实线为一个周期开始时的初始位置，由于高摩擦弹性材料的摩擦系数大于低摩擦弹性材料，故高摩擦弹性材料产生的摩擦力大于低摩擦弹性材料产生的摩擦力，故a+c＜b，即底座向右运动的总距离大于向左运动的总距离，驱动器向右运动。When working, the piezoelectric vibrator is used as a power source to undergo reciprocating bending deformation under the action of alternating voltage, and the inertia is used to cause the composite cantilever to produce bending deformation, and because the friction coefficients of the two materials of the composite cantilever are different, the friction between different materials when they touch the ground The force is different, the friction force is small and the displacement is large, and the driver can move towards the side of the material with a smaller friction coefficient. In one cycle, from zero to a quarter of the cycle, the piezoelectric vibrator vibrates, the mass is subjected to the rightward force of the piezoelectric vibrator and moves to the right, the base is subjected to the leftward reaction force and moves to the left, and the composite cantilever bends , the high-friction elastic material with a large friction coefficient touches the ground, and the base moves to the left with a distance a. The initial position; during one-fourth to three-quarters of the cycle, the mass block is subjected to the leftward force of the piezoelectric vibrator and moves to the left, the base is subjected to the rightward reaction force and moves to the right, and the friction coefficient is small When the friction elastic material touches the ground, the base moves to the right with a distance of b. The state of the actuator at the end of three quarters of the cycle is shown in the dotted line in the middle figure in Figure 3, and the solid line is the initial position at the beginning of one cycle; three quarters When one cycle is reached, the mass block is subjected to the rightward force of the piezoelectric vibrator and moves to the right, the base is subjected to the leftward reaction force and moves to the left, the high friction elastic material with a large friction coefficient touches the ground, and the base moves to the left by the distance is c, the state of the driver at the end of a cycle is shown by the dotted line in the lower figure in Figure 3, and the solid line is the initial position at the beginning of a cycle. Since the friction coefficient of the high-friction elastic material is greater than that of the low-friction elastic material, the high-friction The friction force produced by the elastic material is greater than that produced by the low-friction elastic material, so a+c<b, that is, the total distance that the base moves to the right is greater than the total distance to the left, and the driver moves to the right.
附图说明Description of drawings
图1是本发明一种惯性压电驱动器的装配图。Fig. 1 is an assembly diagram of an inertial piezoelectric driver of the present invention.
图2是本发明中复合悬臂的结构示意图。Fig. 2 is a schematic structural view of the composite cantilever in the present invention.
图3是本发明工作时的运动示意图。Fig. 3 is a schematic diagram of the movement of the present invention when working.
具体实施方式detailed description
参照图1和图2，本发明一种惯性压电驱动器，包括压电振子1、质量块2和基座3，其特征在于还包括复合悬臂4，其中：所述压电振子1两端分别固定连接在所述质量块2和所述基座3上；所述复合悬臂4为薄片型结构且由高摩擦弹性材料41和低摩擦弹性材料42层合构成，所述高摩擦弹性材料41和所述低摩擦弹性材料42都为薄片型结构且尺寸相同，所述高摩擦弹性材料41的摩擦系数大于所述低摩擦弹性材料42的摩擦系数，四个所述复合悬臂4布置在基座3下表面，所有的所述低摩擦弹性材料42面向同一侧；所述压电振子1由压电陶瓷11和弹性基板12粘接构成，所述压电陶瓷11和弹性基板12的粘接面与所述基座3上表面垂直，与所述高摩擦弹性材料41和低摩擦弹性材料42的层合面所述弹性基板12和基座3上表面的交线平行。工作时，压电振子1作为动力源在交变电压的作用下发生往复弯曲变形，利用了惯性使复合悬臂4产生弯曲变形，又由于复合悬臂4的两种材料的摩擦系数不同，不同材料接触地面时摩擦力不同，摩擦力小位移大，驱动器可朝向摩擦系数较小的材料一侧运动。Referring to Fig. 1 and Fig. 2, an inertial piezoelectric driver of the present invention includes a piezoelectric vibrator 1, a mass 2 and a base 3, and is characterized in that it also includes a composite cantilever 4, wherein: the two ends of the piezoelectric vibrator 1 are respectively fixedly connected to the mass block 2 and the base 3; the composite cantilever 4 is a thin sheet structure and is composed of a high-friction elastic material 41 and a low-friction elastic material 42, and the high-friction elastic material 41 and The low-friction elastic materials 42 are all sheet-shaped structures and have the same size, the friction coefficient of the high-friction elastic material 41 is greater than that of the low-friction elastic material 42, and the four composite cantilevers 4 are arranged on the base 3 All the low-friction elastic materials 42 face the same side; the piezoelectric vibrator 1 is formed by bonding the piezoelectric ceramics 11 and the elastic substrate 12, and the bonding surface of the piezoelectric ceramics 11 and the elastic substrate 12 is connected to the The upper surface of the base 3 is vertical and parallel to the line of intersection between the elastic substrate 12 and the upper surface of the base 3 on the laminated surface of the high-friction elastic material 41 and the low-friction elastic material 42 . When working, the piezoelectric vibrator 1 is used as a power source to undergo reciprocating bending deformation under the action of alternating voltage, and the composite cantilever 4 is bent and deformed by using the inertia, and because the friction coefficients of the two materials of the composite cantilever 4 are different, different materials contact The friction force is different when the ground is on the ground, the friction force is small and the displacement is large, and the driver can move towards the side of the material with a smaller friction coefficient.
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| CN107070294B (en) * | 2017-03-23 | 2019-07-05 | 吉林大学 | A kind of inertia jump Piexoelectric actuator based on flexible hinge |
| CN106982003A (en) * | 2017-03-23 | 2017-07-25 | 吉林大学 | Inertia drive based on piezoelectric fabric |
| CN106982005B (en) * | 2017-03-23 | 2019-07-05 | 吉林大学 | Asymmetric biplate piezoelectric fabric inertia drive |
| CN107968595B (en) * | 2018-01-12 | 2024-01-05 | 吉林大学 | Novel soft piezoelectric driver |
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| CN201398155Y (en) * | 2009-05-12 | 2010-02-03 | 西安康弘新材料科技有限公司 | Linear piezoelectric motor |
| CN202565197U (en) * | 2012-05-13 | 2012-11-28 | 浙江师范大学 | Asymmetric piezoelectric inertial driver |
| CN205754056U (en) * | 2016-06-12 | 2016-11-30 | 吉林大学 | An inertial piezoelectric actuator |
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