CN103500794A - X-shaped high-precision and high-expansion flexible displacement amplification mechanism - Google Patents
X-shaped high-precision and high-expansion flexible displacement amplification mechanism Download PDFInfo
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- CN103500794A CN103500794A CN201310407497.4A CN201310407497A CN103500794A CN 103500794 A CN103500794 A CN 103500794A CN 201310407497 A CN201310407497 A CN 201310407497A CN 103500794 A CN103500794 A CN 103500794A
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Abstract
The invention discloses an X-shaped high-precision and high-expansion flexible displacement amplification mechanism which comprises an outer X-shaped frame, a first actuator adapting push rod, a first intelligent material actuator, an output end flexible hinge, a fixed end flexible hinge, a second intelligent material actuator, an inner X-shaped frame, a second actuator adapting push rod and an inner and outer frame flexible connecting hinge. The upper end of the outer X-shaped frame is connected with the right end of the inner and outer frame flexible connecting hinge, the bottom end of the outer X-shaped frame is connected with the second intelligent material actuator, and the other end of the second intelligent material actuator is connected with the left end of the inner and outer frame flexible connecting hinge through the second actuator adapting push rod. The bottom end of the outer X-shaped frame is further connected with the fixed end flexible hinge. The upper end of the inner X-shaped frame is connected with the left end of the inner and outer frame flexible connecting hinge, the bottom end of the inner X-shaped frame is connected with the first intelligent material actuator, the other end of the first intelligent material actuator is connected with the right end of the inner and outer frame flexible connecting hinge through the first actuator adapting push rod, and the bottom end of the inner X-shaped frame is further connected with the output end flexible hinge.
Description
Technical field
The present invention relates to the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy, belong to accurate Driving technique field.
Background technology
The rudder face of current flight device is controlled the main method of power-by-wire PBW that adopts and is realized that airvane drives; The method of power-by-wire mainly contains following three kinds of forms 1), integrated electric-liquid actuator IAP(Integrated Actuation Package); 2), electromechanical actuator EMA(Electro-mechanical Actuator); 3), electronic quiet liquid actuator EHA(Electro Hydrostatic Actuator).These three kinds of systems all adopt electric rotating machine routing motion conversion rotary device (as, the pump housing, leading screw etc.), will rotate output and be converted to straight line and export.The formation of hydraulic system is complicated, volume and weight is all larger, traditional steering wheel handle exist drive system numerous and jumbled, drive the precision deficiency.And realize that by airvane the attitude of hypersonic vehicle controls, need to provide the displacement drive mechanism of high accuracy, large stroke.The advantages such as displacement accuracy is high although intellectual material has, fast response time, adopt the actuator of intellectual material to drive rudder face to have the key issue that material deformation is very little.The intellectual material actuator only has the stroke of several microns or tens of microns usually, and the trip far can not meet the requirement that rudder face drives.
Summary of the invention
The objective of the invention is in order to address the above problem, propose a kind of compact conformation, small volume, amplification driving mechanism that the displacement multiplication factor is high, in structure, adopt compliant mechanism and intellectual material actuator to make and still there is higher output accuracy in displacement enlargement.The flexible displacement amplifying mechanism of the high multiple of X-shaped high accuracy of the present invention, output displacement is sluggish without friction, for precision, drives field.
The flexible displacement amplifying mechanism of the high multiple of X-shaped high accuracy of the present invention, comprise that outer X-shaped framework, the first actuator switching push rod, the first intellectual material actuator, output flexible hinge, stiff end flexible hinge, the second intellectual material actuator, interior X-shaped framework, the second actuator switching push rod, internal and external frame flexibly connect hinge;
Outer X-shaped framework upper end is provided with opening, connect the right-hand member that internal and external frame flexibly connects hinge, outer X-shaped framework bottom is connected, bottom connects the second intellectual material actuator, the other end of the second intellectual material actuator connects internal and external frame by the second actuator switching push rod and flexibly connects the hinge left end, and the bottom of outer X-shaped framework also is connected and fixed the end flexible hinge;
Interior X-shaped framework upper end is provided with opening, connect the left end that internal and external frame flexibly connects hinge, interior X-shaped framework bottom is connected, bottom connects the first intellectual material actuator, the other end of the first intellectual material actuator connects internal and external frame by the first actuator switching push rod and flexibly connects the hinge right-hand member, and the bottom of interior X-shaped framework also connects the output flexible hinge;
Outer X-shaped framework is positioned at the X-shaped framework outside, and both are X-shaped and intersect.
The invention has the advantages that:
(1) adopt the intellectual material actuator as driving original paper, guaranteed that driving mechanism output displacement precision is high;
(2) adopt novel displacement amplifying mechanism, realized the micrometric displacement enlarging function of intellectual material actuator, by suitable design organization parameter, can obtain the displacement multiplication factor of demand;
(3) novel displacement amplifying mechanism compact conformation, the space that has well utilized the intellectual material actuator to occupy, and realized the conversion (outbound course of actuator and the outbound course of driving mechanism be conllinear not) of direction of displacement;
(4) there do not is gap (wriggling enlarger or ball pivot etc.) in this displacement amplifying mechanism, therefore drive precision high.
The accompanying drawing explanation
Fig. 1 is stereoscopic mechanism schematic diagram of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is vertical view of the present invention;
Fig. 4 a is interior X-shaped framework front view of the present invention;
Fig. 4 b is interior X-shaped framework left view of the present invention;
Fig. 5 a is outer X-shaped framework front view of the present invention;
Fig. 5 b is outer X-shaped framework left view of the present invention;
Fig. 6 a is moving device switching pusher structure schematic diagram of the present invention;
Fig. 6 b is moving device switching push rod generalized section of the present invention;
Fig. 6 c is moving device switching push rod vertical view of the present invention;
Fig. 7 a is that internal and external frame of the present invention flexibly connects the hinge vertical view;
Fig. 7 b is that internal and external frame of the present invention flexibly connects the hinge front view;
Fig. 8 is stiff end flexible hinge front view of the present invention;
Fig. 9 is apparatus of the present invention first job view;
Figure 10 is second working state schematic representation of apparatus of the present invention;
Figure 11 is apparatus of the present invention first job principle schematic;
Figure 12 is second operation principle schematic diagram of apparatus of the present invention;
In figure:
| The outer X-shaped framework of 1- | 2-the first actuator switching push rod | 3-the first intellectual material actuator |
| 4-output flexible hinge | 5-stiff end flexible hinge | 6-the second intellectual material actuator |
| X-shaped framework in 7- | 8-the second actuator switching push rod | The 9-internal and external frame flexibly connects hinge |
| The 10-connector | ? | ? |
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy, as shown in Figure 1, Figure 2, Figure 3 shows, comprise that outer X-shaped framework 1, the first actuator switching push rod 2, the first intellectual material actuator 3, output flexible hinge 4, stiff end flexible hinge 5, the second intellectual material actuator 6, interior X-shaped framework 7, the second actuator switching push rod 8, internal and external frame flexibly connect hinge 9, connector 10.
Interior X-shaped framework 7 is as shown in Fig. 5 a, Fig. 5 b, interior X-shaped framework 7 upper end open, connect the left end that internal and external frame flexibly connects hinge 9, interior X-shaped framework 7 bottoms are connected, bottom is provided with screwed hole, connect internal and external frame for the other end that connects the first intellectual material actuator 3, the first intellectual material actuator 3 by the first actuator switching push rod 2 and flexibly connect hinge 9 right-hand members, the bottom of interior X-shaped framework 7 connects output flexible hinge 4 by another one connector 10;
The first actuator switching push rod 2 is identical with the second actuator switching push rod 8 structures, as shown in Fig. 6 a, Fig. 6 b, Fig. 6 c, the first actuator switching push rod 2 is respectively equipped with projection up and down, be provided with bolt hole in projection, upper and lower projection flexibly connects hinge 9 right-hand members by bolt and the first intellectual material actuator 3, internal and external frame respectively and is fixedly connected with.The second actuator switching push rod 8 is respectively equipped with projection up and down, is provided with bolt hole in projection, and upper and lower projection flexibly connects hinge 9 left ends by bolt and the second intellectual material actuator 6, internal and external frame respectively and is fixedly connected with.Wherein, the first actuator switching push rod 2, the second actuator switching push rod 8 can be designed as cylindrical or other shapes, and projection can be designed as cylindrical or other shapes, only needs the position that guarantees two screwed holes to get final product.
Internal and external frame flexibly connects hinge 9 for flexible hinge, and side is provided with screwed hole, and for connecting outer X-shaped framework 1 and interior X-shaped framework 7, its otch is elliptical incision or straight round otch, and wherein elliptical incision is as shown in Fig. 7 a, Fig. 7 b.
Output flexible hinge 4 is identical with stiff end flexible hinge 5 structures, and stiff end flexible hinge 5 one ends connect outer X-shaped framework 1 by connector 10, and the other end is connected with stiff end, between stiff end flexible hinge 5 and connector 10, is bolted.X-shaped framework 7 in output flexible hinge 4 one ends connect by connector 10, other end connection work output, be bolted between output flexible hinge 4 and connector 10.Be provided with otch in the middle of output flexible hinge 4, stiff end flexible hinge, otch is elliptical incision or straight round otch, when stiff end flexible hinge 5 is elliptical incision, as shown in Figure 8.
Output flexible hinge 4, stiff end flexible hinge 5 and internal and external frame flexibly connect hinge 9 for flexible hinge, the strain of its otch junction can make its generation be similar to the effect of conventional hinge, but due to the execution precision of structure that makes very close to each other far above the mechanism that adopts conventional hinge.
Due to actuator size reason, the distance of two actuator outputs can't be less than the diameter of actuator, if Design enlargement ratio demand motive end distance is less than the actuator diameter, the first actuator switching push rod 2 and the second actuator switching push rod 8, can play actuator output is moved to axle, make the output distance meet design requirement.
In the present invention, the first actuator switching push rod 2 bottom thread holes are connected with the end screw rod of the first intellectual material actuator 3, its effect is to meet under the condition of displacement magnification ratio to complete coordinating of actuator and enlarger;
In the present invention, first drives intellectual material actuator 3, second to drive intellectual material actuator 6 to work for drive amplification mechanism.
The course of work of the present invention:
As shown in Figure 9, its middle conductor OC and QD represent the intellectual material actuator to the schematic diagram of displacement amplifying mechanism, and the displacement output of actuator, all the time along the actuator axis direction, is schemed OC direction and QD direction; Line segment OD and CQ represent the inside and outside X-shaped framework of displacement amplifying mechanism, and internal and external frame is linked together by the flexible hinge between CD.During use, the stiff end flexible hinge O of mechanism is connected on pedestal, two actuator elongate or shorten simultaneously and driving mechanism are deformed (Figure 10 shows that when two actuator are extended simultaneously, the motion schematic diagram of Novel actuating mechanism), output will move along the OQ direction.The output of final Novel actuating mechanism will be exported than the large many displacement qf of intellectual material actuator.
Operation principle of the present invention:
The displacement amplification principle of this mechanism is similar with " lever " principle, as Figure 11, Figure 12 shows that " lever " principle and differentiation thereof.When lever two ends and fulcrum conllinear, as Figure 11, the galianconism CM of activation lever, can export at long-armed end points Q the output variable (S2) that is greater than input displacement (S1); Similarly, when galianconism CM and long-armed QM not during conllinear as Figure 12, drive the displacement S1 of galianconism will make lever rotate Δ θ=S1/la around fulcrum, the therefore displacement of long-armed outbound course
mechanism of the present invention has utilized this " not conllinear lever " principle exactly, and in (as shown in Figure 9) figure, left side MC and MQ have formed one " lever ", and M is fulcrum.With the interior X-shaped framework M-C-Q of enlarger partly for for example Figure 12, wherein M is the center of rotation that internal and external frame flexibly connects hinge, when the downward output displacement of actuator CO, the non-crushed element CM of hinge can be rotated counterclockwise around the M point, the rotation of CM can drive the rotation of interior X-shaped framework CQ, and form displacement at the Q point at outbound course, owing at non-outbound course, micro-displacement also being arranged, so the output in mechanism need adopt the output flexible hinge, is offset the displacement of non-outbound course by the distortion of output flexible hinge.As can be seen from Figure 10, because whole mechanism connects the axis symmetry of the center M of flexible hinge all the time along internal and external frame, so the operation principle of the outer X-shaped framework M-D-O of enlarger is identical with M-C-Q.As shown in Figure 9, the height Ls of flexible hinge height hnom and driving mechanism has determined the displacement multiplication factor of mechanism.Reasonably design hnom and Ls just can obtain larger displacement multiplication factor.
When basic geometric parameters is got Ls=126mm, hnom=12mm in Fig. 9, through the experiment test enlarger, in piezoelectric actuator work output area, can obtain the displacement amplification coefficient of 10～14 times.
Claims (6)
1. the flexible displacement amplifying mechanism of the high multiple of an X-shaped high accuracy, it is characterized in that, comprise that outer X-shaped framework (1), the first actuator switching push rod (2), the first intellectual material actuator (3), output flexible hinge (4), stiff end flexible hinge (5), the second intellectual material actuator (6), interior X-shaped framework (7), the second actuator switching push rod (8), internal and external frame flexibly connect hinge (9);
Outer X-shaped framework (1) upper end is provided with opening, connect the right-hand member that internal and external frame flexibly connects hinge (9), outer X-shaped framework (1) bottom is connected, bottom connects the second intellectual material actuator (6), the other end of the second intellectual material actuator (6) connects internal and external frame by the second actuator switching push rod (8) and flexibly connects hinge (9) left end, and the bottom of outer X-shaped framework (1) also is connected and fixed end flexible hinge (5);
Interior X-shaped framework (7) upper end is provided with opening, connect the left end that internal and external frame flexibly connects hinge (9), interior X-shaped framework (7) bottom is connected, bottom connects the first intellectual material actuator (3), the other end of the first intellectual material actuator (3) connects internal and external frame by the first actuator switching push rod (2) and flexibly connects hinge (9) right-hand member, and the bottom of interior X-shaped framework (7) also connects output flexible hinge (4);
Outer X-shaped framework (1) is positioned at X-shaped framework (7) outside, and both are X-shaped and intersect.
2. the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy according to claim 1, it is characterized in that, the first actuator switching push rod (2) is respectively equipped with projection up and down, be provided with bolt hole in projection, upper and lower projection flexibly connects hinge (9) right-hand member by bolt and the first intellectual material actuator (3), internal and external frame respectively and is fixedly connected with.
3. the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy according to claim 1, it is characterized in that, the second actuator switching push rod (8) is respectively equipped with projection up and down, be provided with bolt hole in projection, upper and lower projection flexibly connects hinge (9) left end by bolt and the second intellectual material actuator (6), internal and external frame respectively and is fixedly connected with.
4. the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy according to claim 1, is characterized in that, it is flexible hinge that internal and external frame flexibly connects hinge (9), and its otch is elliptical incision or straight round otch.
5. the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy according to claim 1, it is characterized in that, stiff end flexible hinge (5) one ends connect outer X-shaped framework (1), the other end is connected with stiff end, be provided with otch in the middle of stiff end flexible hinge (5), otch is elliptical incision or straight round otch.
6. the flexible displacement amplifying mechanism of the high multiple of a kind of X-shaped high accuracy according to claim 1, it is characterized in that, X-shaped framework (7) in output flexible hinge (4) one ends connect, other end connection work output, be provided with otch in the middle of output flexible hinge (4), stiff end flexible hinge (5), otch is elliptical incision or straight round otch.
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| CN201310407497.4A CN103500794A (en) | 2013-09-09 | 2013-09-09 | X-shaped high-precision and high-expansion flexible displacement amplification mechanism |
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| CN201310407497.4A CN103500794A (en) | 2013-09-09 | 2013-09-09 | X-shaped high-precision and high-expansion flexible displacement amplification mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803008A (en) * | 2017-10-31 | 2018-11-13 | 成都理想境界科技有限公司 | A kind of displacement amplifying mechanism, fibre-optic scanner and projecting apparatus |
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| CN102714474A (en) * | 2009-11-10 | 2012-10-03 | 麻省理工学院 | Phased array buckling actuator |
| KR101221945B1 (en) * | 2011-07-05 | 2013-01-15 | 한국기계연구원 | Displacement amplifying device capable of compensating micro deformation according to applying pre-load |
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2013
- 2013-09-09 CN CN201310407497.4A patent/CN103500794A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102714474A (en) * | 2009-11-10 | 2012-10-03 | 麻省理工学院 | Phased array buckling actuator |
| KR101221945B1 (en) * | 2011-07-05 | 2013-01-15 | 한국기계연구원 | Displacement amplifying device capable of compensating micro deformation according to applying pre-load |
Non-Patent Citations (2)
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| 张柱: "基于高效驱动机构的新型智能旋翼设计分析与试验研究", 《中国优秀硕士学位论文全文数据库工程科技II辑》 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803008A (en) * | 2017-10-31 | 2018-11-13 | 成都理想境界科技有限公司 | A kind of displacement amplifying mechanism, fibre-optic scanner and projecting apparatus |
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Application publication date: 20140108 |