A two-degree-of-freedom vibration driving device

Abstract

The present invention provides a two-degree-of-freedom mode vibration driving device, which relates to the technical field of driving devices. The present invention includes: a two-degree-of-freedom driving output module, a vibrating member and an exciter; the vibrating member is a linear structure; one end of the vibrating member is fixedly connected; the other end of the vibrating member is connected to the exciter; the exciter is used to drive the vibrating member to vibrate; the two-degree-of-freedom driving output module is arranged at the vibrating member; the two-degree-of-freedom driving output module is used to obtain first driving data and second driving data corresponding to the two degrees of freedom of the vibrating member. By setting the two-degree-of-freedom driving output module, the present invention can use one driver (exciter) to simultaneously drive two-degree-of-freedom mode vibrations, thereby reducing the structural complexity and production cost of the vibration driving device.

Description

Technical Field

[0001] The present invention relates to the technical field of drive devices, in particular to a two-degree-of-freedom vibration mode drive device. Background Art

[0002] Traditional actuation methods, such as motors, piezoelectric devices, and hydraulics, use a dedicated driver for each degree of freedom. This makes it difficult to achieve multiple degrees of freedom with a single device. In practice, multiple degrees of freedom often require actuation, and traditional methods require multiple driver devices, increasing structural complexity and manufacturing costs. Summary of the Invention

[0003] The object of the present invention is to provide a two-degree-of-freedom vibration driving device, which can use one driver to simultaneously drive two-degree-of-freedom vibration modes, thereby reducing the structural complexity and manufacturing cost of the vibration driving device.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A two-degree-of-freedom vibration driving device comprises: a two-degree-of-freedom driving output module, a vibrating member and an exciter;

[0006] The vibrating member is a linear structure; one end of the vibrating member is fixedly connected; the other end of the vibrating member is connected to the exciter; the exciter is used to drive the vibrating member to vibrate;

[0007] The two-degree-of-freedom drive output module is arranged at the vibrating member; the two-degree-of-freedom drive output module is used to obtain first drive data and second drive data corresponding to the two degrees of freedom of the vibrating member.

[0008] Optionally, the driving device further includes: an excitation control unit;

[0009] The excitation control unit is connected to the exciter and the two-degree-of-freedom drive output module respectively;

[0010] The excitation control unit is used to store vibration part vibration mode experimental data;

[0011] The excitation control unit is further configured to determine the operating parameters of the exciter according to the first drive data, the second drive data, and the vibration element vibration mode test data;

[0012] The vibration exciter is used to operate according to the operating parameters and drive the vibration member to vibrate.

[0013] Optionally, the operating parameters include amplitude and frequency.

[0014] Optionally, the two-degree-of-freedom drive output module includes a first drive output unit and a second drive output unit;

[0015] The first drive output unit is provided at the midpoint of the vibrating member; the first drive output unit is used to obtain first drive data at the midpoint of the vibrating member;

[0016] The second driving output unit is provided at any one of the three-divided points of the vibrating member; the second driving output unit is used to obtain second driving data at the three-divided point of the vibrating member.

[0017] Optionally, the first drive output unit includes a first follower, a first spring and a first damper;

[0018] One end of the first spring is fixedly connected; the other end of the first spring is connected to the first follower; the first follower is connected to the vibrating member at the midpoint of the vibrating member; the first follower moves as the midpoint of the vibrating member vibrates; and the first spring expands and contracts as the first follower moves.

[0019] The first damper is connected in parallel with the first spring; the first damper is used to determine first driving data according to the expansion and contraction amount of the first spring.

[0020] Optionally, the stiffness of the vibrating member is greater than the sum of the stiffness of the first follower in the first drive output unit, the stiffness of the first spring, and the stiffness of the first damper;

[0021] The mass of the vibrating member is greater than the sum of the mass of the first driven member, the mass of the first spring, and the mass of the first damper in the first drive output unit.

[0022] Optionally, the second drive output unit includes a second follower, a second spring and a second damper;

[0023] One end of the second spring is fixedly connected; the other end of the second spring is connected to the second follower; the second follower is connected to the vibrating member at any one of the three-division points of the vibrating member; the second follower moves as the vibrating member vibrates at the three-division point; and the second spring expands and contracts as the second follower moves.

[0024] The second damper is connected in parallel with the second spring; the second damper is used to determine second driving data according to the expansion and contraction amount of the second spring.

[0025] Optionally, the stiffness of the vibrating member is greater than the sum of the stiffness of the second follower in the second drive output unit, the stiffness of the second spring, and the stiffness of the second damper;

[0026] The mass of the vibration member is greater than the sum of the mass of the second driven member in the second drive output unit, the mass of the second spring, and the mass of the second damper.

[0027] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0028] The present invention's two-degree-of-freedom vibration drive device utilizes a two-degree-of-freedom drive output module, allowing a single drive device to achieve two-degree-of-freedom actuation. This is because the displacement of the same point on the structure varies under different vibration modes. When one displacement is zero and the other is non-zero, a single degree of freedom actuation can be achieved at that point, thus achieving two-degree-of-freedom actuation. Furthermore, the present invention offers a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 Schematic diagram of the overall structure of the driving device for two-degree-of-freedom vibration mode in Example 1 of the present invention;

[0031] Figure 2 Schematic diagram of the structure of a driving device for two-degree-of-freedom mode vibration in Example 1 of the present invention;

[0032] Figure 3 Schematic diagram of the second-order vibration mode in Example 1 of the present invention;

[0033] Figure 4 Schematic diagram of the third-order vibration mode in Example 1 of the present invention;

[0034] Figure 5 This is an operation diagram of the driving device for two-degree-of-freedom vibration mode at the second-order vibration mode in Example 1 of the present invention;

[0035] Figure 6 This is an operation diagram of the driving device for two-degree-of-freedom vibration mode at the third-order vibration mode in Example 1 of the present invention;

[0036] Figure 7 This is a schematic diagram of the excitation control unit in Example 1 of the present invention.

[0037] Description of reference numerals:

[0038] Two-degree-of-freedom drive output module-100, first follower-101, first spring-102; first damper-103; vibrator-201; exciter-202; excitation control unit-301. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] The object of the present invention is to provide a two-degree-of-freedom vibration driving device, which can use one driver to simultaneously drive two-degree-of-freedom vibration modes, thereby reducing the structural complexity and manufacturing cost of the vibration driving device.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Example

[0043] like Figure 2 As shown in FIG, the driving device includes a vibrating member 201 and an exciter 202. The driving device can make the vibrating member exhibit different vibration modes. Taking the second and third order vibration modes of the vibrating member as an example, the second order vibration mode is as follows: Figure 2 As shown in Figure 2. It can be seen that the displacement at the midpoint of the vibrating element is always zero, while the displacement at the points where the vibrating element is divided into three equal parts is not zero. The third-order vibration mode is as follows: Figure 3 As shown, it can be seen that the displacement at the midpoint of the vibrating member is not zero, while the displacement at the points where the vibrating member is divided into three equal parts is zero.

[0044] According to the above-mentioned different displacement performances, this embodiment installs drive output units at the midpoint and the three-division point respectively, so as to realize the two-degree-of-freedom drive of the device. The full structure diagram of the device is as follows: Figure 1 shown.

[0045] like Figure 1As shown, this embodiment provides a two-degree-of-freedom vibration driving device, including: a two-degree-of-freedom driving output module 100, a vibrating member 201, an exciter 202 and an excitation control unit 301 (computer); the vibrating member is a linear structure; one end of the vibrating member is fixedly connected; the other end of the vibrating member is connected to the exciter; the exciter is used to drive the vibrating member to vibrate; the two-degree-of-freedom driving output module is arranged at the vibrating member; the two-degree-of-freedom driving output module is used to obtain the first driving data and the second driving data corresponding to the two degrees of freedom of the vibrating member. The excitation control unit is connected to the exciter and the two-degree-of-freedom driving output module respectively; the excitation control unit is used to store the vibration member vibration mode experimental data; the excitation control unit is also used to determine the exciter operating parameters based on the first driving data, the second driving data and the vibration member vibration mode experimental data; the exciter is used to operate according to the operating parameters and drive the vibrating member to vibrate. The operating parameters include amplitude and frequency.

[0046] Specifically, the two-degree-of-freedom drive output module includes a first drive output unit and a second drive output unit; the first drive output unit is arranged at the midpoint of the vibrating member; the first drive output unit is used to obtain the first drive data at the midpoint of the vibrating member; the second drive output unit is arranged at any one of the three equal points of the vibrating member; the second drive output unit is used to obtain the second drive data at the three equal points of the vibrating member.

[0047] Specifically, the first drive output unit includes a first follower 101, a first spring 102, and a first damper 103. One end of the first spring is fixedly connected; the other end of the first spring is connected to the first follower; the first follower is connected to the vibrator at its midpoint; the first follower moves as the vibrator vibrates at its midpoint; the first spring expands and contracts as the first follower moves; the first damper is connected in parallel with the first spring; and the first damper is used to determine first drive data based on the expansion and contraction of the first spring. The stiffness of the vibrator is greater than the sum of the stiffness of the first follower, the stiffness of the first spring, and the stiffness of the first damper in the first drive output unit. The mass of the vibrator is greater than the sum of the mass of the first follower, the mass of the first spring, and the mass of the first damper in the first drive output unit.

[0048] Specifically, the second drive output unit includes a second follower, a second spring, and a second damper; one end of the second spring is fixedly connected; the other end of the second spring is connected to the second follower; the second follower is connected to the vibrating member at any trisection point of the vibrating member; the second follower moves in response to the vibration of the vibrating member at the trisection point; the second spring expands and contracts in response to the movement of the second follower; the second damper is connected in parallel with the second spring; and the second damper is configured to determine the second drive data based on the expansion and contraction of the second spring. The stiffness of the vibrating member is greater than the sum of the stiffness of the second follower, the stiffness of the second spring, and the stiffness of the second damper in the second drive output unit; and the mass of the vibrating member is greater than the sum of the mass of the second follower, the mass of the second spring, and the mass of the second damper in the second drive output unit.

[0049] like Figure 4 As shown in the figure, in a two-degree-of-freedom drive output module, the motion of the follower is determined by the vibration displacement of the vibrator. The spring maintains contact between the follower and the vibrator, and the damper quickly damps the vibration generated by the vibrator's impact on the follower. Since the mass and stiffness of these three components are much smaller than those of the vibrator, their impact on the vibrator's vibration, especially its mode shape, is minimal and can be approximately ignored. If the impact of these components on structural vibration cannot be ignored due to actual circumstances, post-processing correction can be used to reduce the drive error.

[0050] The followers of all driving output units are in contact with the nodes of the second and third order vibration modes of the vibrating member and are always located above them, one of which is located at the trisection point of the vibrating member and the other is located at the midpoint of the vibrating member. The spring and damper are connected to each of the followers, and each follower represents an independent degree of freedom. One end of the vibrating member is fixed, and the other end is connected to the exciter. The exciter is controlled by an excitation control unit. The excitation control unit stores data obtained from vibration mode experiments or simulations of the vibrating member. The function of the excitation control unit is to calculate and output the corresponding amplitude and frequency through the internal storage data and the input drive data, and transmit the amplitude and frequency information to the exciter. The function of the exciter is to accept the amplitude and frequency transmitted by the excitation control unit, complete the excitation of the vibrating member, and make the vibrating member vibrate according to the preset vibration mode.

[0051] like Figure 5 As shown in , when the vibrating member vibrates in the second-order vibration mode, the follower at the midpoint has no displacement command, while the follower at the three-division point has a displacement command. Therefore, under this vibration mode, the degree of freedom represented by the follower at the three-division point is driven. Figure 6 As shown in the figure, when the vibrating member vibrates at the third-order mode, the follower at the trisection point receives no displacement command, while the follower at the midpoint receives a displacement command. Therefore, under this mode, the degree of freedom represented by the follower at the midpoint is actuated. By controlling the displacement of the two followers, the device achieves two degrees of freedom.

[0052] When the device is working, the software operation process in the vibration control unit is as follows Figure 7 When it receives a driving instruction, it compares and calculates the data stored in the computer and outputs the corresponding frequency and amplitude.

[0053] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0054] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A two-degree-of-freedom vibration driving device, characterized in that: include: Two-degree-of-freedom drive output module, vibrator and exciter; The vibrating member is a linear structure; one end of the vibrating member is fixedly connected; the other end of the vibrating member is connected to the exciter; the exciter is used to drive the vibrating member to vibrate; The two-degree-of-freedom drive output module is arranged at the vibrating member; the two-degree-of-freedom drive output module is used to obtain first drive data and second drive data corresponding to two degrees of freedom of the vibrating member; The two-degree-of-freedom drive output module includes a first drive output unit and a second drive output unit; The first drive output unit is provided at the midpoint of the vibrating member; the first drive output unit is used to obtain first drive data at the midpoint of the vibrating member; The second driving output unit is provided at any one of the three-divided points of the vibrating member; the second driving output unit is used to obtain second driving data at the three-divided point of the vibrating member.

2. A two-degree-of-freedom mode vibration driving device according to claim 1, characterized in that: The driving device further includes: an excitation control unit; The excitation control unit is connected to the exciter and the two-degree-of-freedom drive output module respectively; The excitation control unit is used to store vibration part vibration mode experimental data; The excitation control unit is further configured to determine the operating parameters of the exciter according to the first drive data, the second drive data, and the vibration element vibration mode test data; The vibration exciter is used to operate according to the operating parameters and drive the vibration member to vibrate.

3. A two-degree-of-freedom mode vibration driving device according to claim 2, characterized in that: The operating parameters include amplitude and frequency.

4. A two-degree-of-freedom mode vibration driving device according to claim 1, characterized in that: The first drive output unit includes a first follower, a first spring and a first damper; One end of the first spring is fixedly connected; the other end of the first spring is connected to the first follower; the first follower is connected to the vibrating member at the midpoint of the vibrating member; the first follower moves as the midpoint of the vibrating member vibrates; and the first spring expands and contracts as the first follower moves. The first damper is connected in parallel with the first spring; the first damper is used to determine first driving data according to the expansion and contraction amount of the first spring.

5. A two-degree-of-freedom mode vibration driving device according to claim 4, characterized in that: The stiffness of the vibrating member is greater than the sum of the stiffness of the first follower in the first drive output unit, the stiffness of the first spring, and the stiffness of the first damper; The mass of the vibrating member is greater than the sum of the mass of the first driven member, the mass of the first spring, and the mass of the first damper in the first drive output unit.

6. A two-degree-of-freedom mode vibration driving device according to claim 1, characterized in that: The second drive output unit includes a second follower, a second spring and a second damper; One end of the second spring is fixedly connected; the other end of the second spring is connected to the second follower; the second follower is connected to the vibrating member at any one of the three-division points of the vibrating member; the second follower moves as the vibrating member vibrates at the three-division point; and the second spring expands and contracts as the second follower moves. The second damper is connected in parallel with the second spring; the second damper is used to determine second driving data according to the expansion and contraction amount of the second spring.

7. A two-degree-of-freedom mode vibration driving device according to claim 6, characterized in that: The stiffness of the vibrating member is greater than the sum of the stiffness of the second follower in the second drive output unit, the stiffness of the second spring, and the stiffness of the second damper; The mass of the vibration member is greater than the sum of the mass of the second driven member in the second drive output unit, the mass of the second spring, and the mass of the second damper.

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