CN207853785U - Couple the bionical piezoelectricity locating platform with parasitic motion principle of looper - Google Patents
Couple the bionical piezoelectricity locating platform with parasitic motion principle of looper Download PDFInfo
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- CN207853785U CN207853785U CN201820323816.1U CN201820323816U CN207853785U CN 207853785 U CN207853785 U CN 207853785U CN 201820323816 U CN201820323816 U CN 201820323816U CN 207853785 U CN207853785 U CN 207853785U
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Abstract
The utility model is related to a kind of bionical piezoelectricity locating platforms with parasitic motion principle of coupling looper, driving unit, subunit and clamping unit in locating platform are connect with pedestal respectively, and the flaky texture of mover both sides coordinates with the groove gap of driving unit and clamping unit output end respectively in subunit.Apply periodic square wave and sawtooth wave driving voltage with certain sequential respectively to the piezoelectric stack in clamping unit and driving unit simultaneously, realizes the step motion of mover.Advantage is：The bionical respective advantage with parasitic motion principle of looper is coupled, it overcomes that looper bionic type piezoelectricity locating platform piezoelectric element is poor using more, structure and control complicated problem and hunt effect formula piezoelectricity locating platform self-locking performance, retracting moves notable problem, a kind of feasible program is provided to develop to be provided simultaneously with big stroke, high bearing capacity, the small, structure of movement that retracts and control simple Precision Piezoelectric locating platform.
Description
Technical field
The utility model is related to the fields such as precision machinery, precision optical system, micromanipulation, precision/Ultra-precision Turning, special
It is not related to a kind of bionical piezoelectricity locating platform with parasitic motion principle of coupling looper.
Background technology
Based on piezoelectric material design precisely locating platform precision machinery, precision optical system, micromanipulation, precision/
The fields such as Ultra-precision Turning have important application.To solve the problems, such as that single piezoelectric element output displacement is very limited, people is studied
Member proposes the driving principles such as bionical looper, stick-slip inertia, hunt effect, and the corresponding big stroke piezoelectricity of development and design
Precisely locating platform extends application range and the field of Piezoelectric Driving precisely locating platform to a certain extent.However, based on upper
Stating the Piezoelectric Driving precisely locating platform of principle development, there is also respective disadvantages.Typical such as Inchworm type piezoelectricity locating platform has
Have the advantages that High power output, rollback move small, high resolution, but its structure is often sufficiently complex, process and assemble is extremely difficult,
And due to needing 3 or more piezoelectric element sequential actions, control process complicated.The structure of stick-slip inertia-type piezoelectricity locating platform
It is relatively simple with controlling, but its bearing capacity is relatively low and motion process is there are apparent rollback phenomenon, limiting it makes
With.Hunt effect formula piezoelectricity locating platform has the advantages of stick-slip formula driver, but when to still remain driving voltage be zero
The problems such as there are apparent rollback phenomenons during self-locking performance is poor and motion process.
To sum up, although existing all kinds of piezoelectricity locating platforms can realize big stroke motion at high resolutions,
Be still remain or structure and control is complicated or bearing capacity is low or rollback phenomenon is significantly or the problems such as self-locking performance is poor, so,
Development is provided simultaneously with big stroke, high bearing capacity, retracting moves small, structure and the simple Precision Piezoelectric locating platform of control still
It is problem in the urgent need to address.
Invention content
The bionical piezoelectricity locating platform with parasitic motion principle of looper is coupled the purpose of this utility model is to provide a kind of,
By coupling the bionical respective advantage with parasitic motion principle of looper, on the one hand solves looper bionic type piezoelectricity locating platform pressure
On the other hand electric device solves hunt effect formula piezoelectricity locating platform self-locking performance using the complicated problem of more, structure and control
Difference, retracting moves notable problem.The utility model is that development is provided simultaneously with big stroke, high bearing capacity, retracting moves small, knot
It structure and controls simple Precision Piezoelectric locating platform and provides a solution, in precision machinery, precision optical system, micro-
The fields such as operation, precision/Ultra-precision Turning have broad application prospects.
The above-mentioned purpose of the utility model is achieved through the following technical solutions：
Couple the bionical piezoelectricity locating platform with parasitic motion principle of looper, including clamping unit, subunit and driving
Unit, the driving unit, subunit and clamping unit are connect by screw with pedestal 1 respectively.
The clamping unit is made of clamper cushion block 4, clamper piezoelectric stack 2 and clamper flexible hinge gripper 3, the pincers
Position piezoelectric stack 2 is mounted on using interference fit type in the slot of 3 tail portion of clamper flexible hinge gripper, the clamper flexible hinge
Gripper 3 is connect by clamper cushion block 4 with the side of pedestal 1.
The driving unit is made of driving cushion block 8, driving piezoelectric stack 9 and driving flexible hinge gripper 10, described
Piezoelectric stack 9 is driven to be mounted on using interference fit type in the slot of 10 tail portion of driving flexible hinge gripper, the driving is flexible
Hinge gripper 10 is by driving cushion block 8 to be connect with the upper surface of pedestal 1.
The subunit is made of guide rail 5, sliding block 6 and mover 7, and the guide rail 5 is connect by screw with pedestal 1,
Mover 7 is fixed by screws in the upper end of sliding block 6, and mover 7 is with sliding block 6 in 5 upper edge of guide railxDirection moves, 7 both sides of mover
Flaky texture respectively with the groove of driving unit and clamping unit output end realize clearance fit.
The utility model coupling looper is bionical and parasitic motion principle, the type locating platform are realizing the big stroke of grade
On the basis of micro/nano level high-precision positioning function, has both high bearing capacity, structure and control the features such as simple.
The beneficial effects of the utility model are：It is bionical with the respective advantage of parasitic motion principle to have coupled looper, has overcome
Looper bionic type piezoelectricity locating platform piezoelectric element using more, structure and control complexity problem and hunt effect formula piezoelectricity
Locating platform self-locking performance is poor, retracting moves notable problem, and big stroke, high bearing capacity, rollback movement are provided simultaneously with to develop
Small, structure and the simple Precision Piezoelectric locating platform of control provide a kind of feasible program.It can be used for precision machinery, precision optics system
Realize big stroke and micro-nano precision positioning in the fields such as system, micromanipulation, precision/Ultra-precision Turning.It is highly practical, the scope of application
Extensively.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The illustrative example and its explanation of the utility model do not constitute the improper limit to the utility model for explaining the utility model
It is fixed.
Fig. 1 is that the bionical stereochemical structure with the piezoelectricity locating platform of parasitic motion principle of coupling looper of the utility model is shown
It is intended to；
Fig. 2 is the fundamental diagram of the driving unit of the utility model；
Fig. 3 is the fundamental diagram of the clamping unit of the utility model；
Fig. 4 be the utility model couple looper it is bionical with parasitic motion principle under realize move along a straight line when, drive piezoelectricity
It stacks and the timing control figure of clamper piezoelectric stack；
Fig. 5 is that the utility model is realizing displacement output curve diagram when moving along a straight line merely with parasitic motion principle,
The driving voltage of middle driving piezoelectric stack is 80 volts, and frequency is 10 hertz；
Fig. 6 is that the utility model is exported in the bionical displacement with when realizing linear motion under parasitic motion principle of coupling looper
Curve graph, wherein the driving voltage of driving piezoelectric stack and clamper piezoelectric stack is 80 volts, frequency is 10 hertz.
In figure：1, pedestal；2, clamper piezoelectric stack；3, clamper flexible hinge gripper；4, clamper cushion block；5, guide rail；6, sliding
Block；7, mover；8, cushion block is driven；9, piezoelectric stack is driven；10, flexible hinge gripper is driven.
Specific implementation mode
The detailed content and its specific implementation mode of the utility model are further illustrated below in conjunction with the accompanying drawings.
Shown in Fig. 1 to Fig. 6, the bionical piezoelectricity positioning with parasitic motion principle of coupling looper of the utility model is flat
Platform, locating platform include mainly clamping unit, subunit and driving unit etc., driving unit, subunit and clamping unit
Connect respectively with pedestal by screw, in subunit the flaky texture of mover both sides respectively with driving unit and clamping unit
The groove of output end realizes clearance fit.The bionical respective advantage with parasitic motion principle of looper has been coupled, it is imitative to overcome looper
Raw formula piezoelectricity locating platform piezoelectric element uses more, structure and control complicated problem and hunt effect formula piezoelectricity locating platform
Self-locking performance is poor, retracting moves notable problem, for develop be provided simultaneously with big stroke, high bearing capacity, retract move small, structure and
It controls simple Precision Piezoelectric locating platform and a kind of feasible program is provided.It can be used for precision machinery, precision optical system, micro- behaviour
Realize big stroke and micro-nano precision positioning in the fields such as work, precision/Ultra-precision Turning.
It is shown in Figure 1, the bionical piezoelectricity locating platform with parasitic motion principle of coupling looper of the utility model, including
Clamping unit, subunit and driving unit, the driving unit, subunit and clamping unit pass through screw and base respectively
Seat 1 connects.
The clamping unit is made of clamper cushion block 4, clamper piezoelectric stack 2 and clamper flexible hinge gripper 3, described
Clamper piezoelectric stack 2 is mounted on using interference fit type in the slot of 3 tail portion of clamper flexible hinge gripper, and the clamper is flexible
Hinge gripper 3 is connect by clamper cushion block 4 with the side of pedestal 1.
The driving unit is made of driving cushion block 8, driving piezoelectric stack 9 and driving flexible hinge gripper 10, described
Driving piezoelectric stack 9 be mounted on using interference fit type in the slot of 10 tail portion of driving flexible hinge gripper, the driving
Flexible hinge gripper 10 is by driving cushion block 8 to be connect with the upper surface of pedestal 1.
The subunit is made of guide rail 5, sliding block 6 and mover 7, and the guide rail 5 is connected by screw and pedestal 1
It connects, mover 7 is fixed by screws in the upper end of sliding block 6, and mover 7 can be done with sliding block 6 on guide rail 5xMovement on direction,
The flaky texture of 7 both sides of mover realizes clearance fit with the groove of driving unit and clamping unit output end respectively.
The utility model coupling looper is bionical and it is former to be based on hunt effect for parasitic motion principle, the wherein driving of the direction of motion
Reason（Referring to the patent No.：201210114613.9）.
It is shown in Figure 2, it is the fundamental diagram of the driving unit of the utility model.Drive piezoelectric stack 9 by electricity
It is extended when pressure, the tail portion both ends of driving flexible hinge gripper 10 is made to generatey pzt1The displacement of size, since driving flexible hinge is grabbed
The deformation of pawl 10, gripper end generate simultaneouslyy aWithx aTwo movements, i.e., first clamp the flaky texture of mover both sides, then again
Pull 7 edge of moverxIt is moved in direction.
It is shown in Figure 3, it is the fundamental diagram of the clamping unit of the utility model.Clamper piezoelectric stack 2 is by electricity
It is extended when pressure, the tail portion both ends of clamper flexible hinge gripper 3 is made to generatey pzt2The displacement of size, due to clamper flexible hinge gripper
3 deformation, gripper end can generate the flaky texture of mover both sidesF NbClamping force, vise mover 7.
It is shown in Figure 4, be the utility model couple looper it is bionical with realized under parasitic motion principle move along a straight line when,
Drive the timing control figure of piezoelectric stack and clamper piezoelectric stack.According to the timing control figure, while in clamping unit
Driving piezoelectric stack 9 in clamper piezoelectric stack 2 and driving unit applies periodic square wave drive voltage and sawtooth wave respectively
Driving voltage, two-way drive voltage signal is in a cycleTInside meet following sequential relationship：
1）In the timetThe driving voltage at=0 moment, clamper piezoelectric stack 2 is in high level, under inverse piezoelectric effect effect,
Clamper piezoelectric stack 2 extends, and driving clamper flexible hinge gripper 3 clamps the flaky texture of mover both sides, realizes self-locking；At this time
It carves, the driving voltage of driving piezoelectric stack 9 remains zero；
2）0~t 1Time, the driving voltage of clamper piezoelectric stack 2 is still in high level；And drive the drive of piezoelectric stack 9
Dynamic voltage linear increases, and driving flexible hinge gripper 10 is gradually deformed, its output end is caused to existt 1Moment and mover both sides
Flaky texture contact；
3）t 1~t 2Time, the driving voltage of clamper piezoelectric stack 2 are transformed to low level, clamper flexible hinge gripper 3 with
The flaky texture of mover both sides unclamps；In this time, drive the driving voltage of piezoelectric stack 9 still linearly increasing, according to parasitic
Driving principle is moved, driving flexible hinge gripper 10 pulls mover 7 to exist along guide rail 5xIt is moved in axis direction；
4）t 2~TThe driving voltage of time, clamper piezoelectric stack 2 are transformed to high level again, and clamper flexible hinge is grabbed
Pawl 3 clamps the flaky texture of mover both sides again；In this time, the driving voltage of driving piezoelectric stack 9 linearly increases to most
Greatly, zero is dropped quickly to later.Since in this time, the flaky texture of mover both sides is clamped the folder of flexible hinge gripper 3
Tightly, rollback movement of the mover 7 in the driving voltage rapid decrease stage of driving piezoelectric stack 9 is inhibited even to be eliminated significantly, from
And improve the single step moving displacement and positioning accuracy of mover 7.
It is that the utility model is realizing displacement curve of output when moving along a straight line merely with parasitic motion principle referring to Fig. 5
Figure, wherein the driving voltage of driving piezoelectric stack 9 is 80 volts, frequency is 10 hertz；It is that the utility model is coupling referring to Fig. 6
The bionical displacement output curve diagram with when realization moves along a straight line under parasitic motion principle of looper, wherein driving piezoelectric stack 9 and pincers
The driving voltage of position piezoelectric stack 2 is 80 volts, frequency is 10 hertz.In figure, ΔxFor the significance bit in mover a cycle
It moves,x bFor the rollback displacement in mover a cycle.It is obvious by Fig. 5, when realizing linear motion merely with parasitic motion principle, move
Sub- rollback displacement is very big, its effective displacement very little in one cycle, this rollback phenomenon is caused to not only reduce positioning
The single step moving displacement of platform, and large effect is generated to positioning accuracy.Compared to Fig. 5, when locating platform is in coupling looper
Realize that the rollback displacement of mover in one cycle is effectively suppressed, and has when moving along a straight line under bionical and parasitic motion principle
Effect displacement dramatically increases.By the comparison of Fig. 5 and Fig. 6, obvious coupling looper provided by the utility model is bionical and hunt effect
The big stroke piezoelectric straight line precisely locating platform of principle and the advantageous effect of control method.
The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for ability
For the technical staff in domain, various modifications and changes may be made to the present invention.It is all to made by the utility model it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this utility model.
Claims (4)
1. a kind of bionical piezoelectricity locating platform with parasitic motion principle of coupling looper, it is characterised in that：Including clamping unit, move
Subelement and driving unit, the driving unit, subunit and clamping unit pass through screw and pedestal respectively（1）Connection.
2. the bionical piezoelectricity locating platform with parasitic motion principle of coupling looper according to claim 1, it is characterised in that：
The clamping unit is by clamper cushion block（4）, clamper piezoelectric stack（2）With clamper flexible hinge gripper（3）Composition, the clamper
Piezoelectric stack（2）Clamper flexible hinge gripper is mounted on using interference fit type（3）In the slot of tail portion, the clamper flexible hinge
Chain gripper（3）Pass through clamper cushion block（4）With pedestal（1）Side connection.
3. the bionical piezoelectricity locating platform with parasitic motion principle of coupling looper according to claim 1, it is characterised in that：
The driving unit is by driving cushion block（8）, driving piezoelectric stack（9）With driving flexible hinge gripper（10）Composition, the drive
Dynamic piezoelectric stack（9）Driving flexible hinge gripper is mounted on using interference fit type（10）In the slot of tail portion, the driving is soft
Property hinge gripper（10）By driving cushion block（8）With pedestal（1）Upper surface connection.
4. the bionical piezoelectricity locating platform with parasitic motion principle of coupling looper according to claim 1, it is characterised in that：
The subunit is by guide rail（5）, sliding block（6）And mover（7）Composition, the guide rail（5）Pass through screw and pedestal（1）Even
It connects, mover（7）It is fixed by screws in sliding block（6）Upper end, mover（7）With sliding block（6）In guide rail（5）Upper edgexIt transports in direction
It is dynamic, mover（7）The flaky texture of both sides realizes clearance fit with the groove of driving unit and clamping unit output end respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820323816.1U CN207853785U (en) | 2018-03-09 | 2018-03-09 | Couple the bionical piezoelectricity locating platform with parasitic motion principle of looper |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108111052A (en) * | 2018-03-09 | 2018-06-01 | 吉林大学 | Couple the bionical piezoelectricity locating platform and control method with parasitic motion principle of looper |
| CN110224633A (en) * | 2019-07-12 | 2019-09-10 | 哈尔滨工业大学 | One kind cut off self-lock micro-displacement piezoelectricity adjustment device |
| CN111049422A (en) * | 2020-01-15 | 2020-04-21 | 合肥工业大学 | Clamping control inertial impact motor |
-
2018
- 2018-03-09 CN CN201820323816.1U patent/CN207853785U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108111052A (en) * | 2018-03-09 | 2018-06-01 | 吉林大学 | Couple the bionical piezoelectricity locating platform and control method with parasitic motion principle of looper |
| CN108111052B (en) * | 2018-03-09 | 2024-03-05 | 吉林大学 | Piezoelectric positioning platform for coupling inchworm bionic and parasitic motion principle and control method |
| CN110224633A (en) * | 2019-07-12 | 2019-09-10 | 哈尔滨工业大学 | One kind cut off self-lock micro-displacement piezoelectricity adjustment device |
| CN111049422A (en) * | 2020-01-15 | 2020-04-21 | 合肥工业大学 | Clamping control inertial impact motor |
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