CN104901582B - Plane walking actuator based on piezoelectric-parallel four-bar mechanisms and walking method - Google Patents
Plane walking actuator based on piezoelectric-parallel four-bar mechanisms and walking method Download PDFInfo
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- CN104901582B CN104901582B CN201510256753.3A CN201510256753A CN104901582B CN 104901582 B CN104901582 B CN 104901582B CN 201510256753 A CN201510256753 A CN 201510256753A CN 104901582 B CN104901582 B CN 104901582B
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Abstract
The invention provides a plane walking actuator based on piezoelectric-parallel four-bar mechanisms and a walking method. The actuator is formed by a piezoelectric three-level displacement amplifying mechanism, connecting rods, pins, parallel four-bar mechanisms, a guide rail, a driver and a controller. The method for achieving walking comprises that the piezoelectric three-level displacement amplifying mechanism is made of a piezoelectric stack and three rhombus rings and micrometric displacement output by the piezoelectric stack is amplified and then output; the connecting rods are connected the piezoelectric three-level displacement amplifying mechanism and the parallel four-bar mechanisms; the pins are rotating shafts; each of the parallel four-bar mechanisms is formed by four bars and two piezoelectric flexible structures and is fixedly engaged to a micro tooth groove of the guide rail via a micro tooth groove of corresponding piezoelectric flexible structures; and when the actuator begins to walk, the upper-part bars are fixed on the guide rail; after the actuator is electrified, the piezoelectric stack extends and the lower-part bars move rightwards; then the lower-part bars are fixed, so the upper-part bars are suspended and then the actuator is cut off, so the extended piezoelectric stack contracts and the upper-part bars move rightwards; and along with the orderly extending and contracting of the piezoelectric stack, rightward movement or leftward movement can be gradually achieved.
Description
Technical field
The present invention relates to actuator of walking, and in particular to a kind of plane walking start based on piezoelectricity-parallelogram lindage
Device and traveling method.
Background technology
Apply alternating electric field on piezoelectric crystal and can cause the small mechanically deform of piezoelectric, based on piezoelectric pile
Actuator has the features such as output displacement is little, and active force is big, is used for the purposes such as micro-structure vibration damping, start.Can typically pass through
Rational structure design amplifies the micrometric displacement of piezoelectric output；Meanwhile, stepping actuator function is capable of achieving using step-by-step movement mechanism.
Therefore, based on the actuator of piezoelectric pile have the advantages that high resolution, High power output, response is rapid, power consumption is less,.It is anti-when having
Electromagnetic interference, big stroke, when size is little, continuous start, power down locking etc. are required, existing actuator cannot meet above-mentioned all
Part.
The content of the invention
In order to solve the problems, such as above-mentioned prior art, it is an object of the invention to provide a kind of based on piezoelectricity-parallel
The plane walking actuator of four-bar mechanism and traveling method, can be with bidirectional output actuator function.
In order to achieve the above object, the present invention is adopted the following technical scheme that：
Plane walking actuator based on piezoelectricity-parallelogram lindage, including piezoelectricity three-level displacement amplifying mechanism 1, is arranged
In the connecting rod 2 at 1 two ends of piezoelectricity three-level displacement amplifying mechanism, 2 other end of connecting rod connects parallelogram lindage 4 by pin 3, described
Flexible Piezoelectric 5 is provided with the upper boom of parallelogram lindage 4 and lower beam symmetric position, and the Flexible Piezoelectric 5 includes
Flexible structure 11 and the second piezoelectric pile 12 for being arranged on 11 long between centers of flexible structure, the short axle two ends of flexible structure 11 are with miniature
Teeth groove, the top and bottom of the parallelogram lindage 4 are by the miniature teeth groove at 5 short axle two ends of Flexible Piezoelectric and guide rail 6
The engagement of miniature teeth groove；The piezoelectricity three-level displacement amplifying mechanism 1 includes the first rhombus ring 7, is positioned over 7 major axis of the first rhombus ring
Between the first piezoelectric pile 10；It is arranged in outside the first rhombus ring 7 and the second rhombus ring 8 vertical with the first rhombus ring 7, described second
The major axis of rhombus ring 8 is coaxial with the short axle of the first rhombus ring 7, is arranged in the second rhombus ring 8 outer and vertical with the second rhombus ring 8
Three Diamond ring 9, the major axis of the Three Diamond ring 9 are coaxial with the short axle of the second rhombus ring 8；Also include and the first piezoelectric pile 10
The controller 14 being connected with the driver 13 of the connection of the second piezoelectric pile 12 and with driver 13.
N times of the 1 one-level displacement enlargement of piezoelectricity three-level displacement amplifying mechanism, three-level displacement enlargement n3Times.
The traveling method of the plane walking actuator based on piezoelectricity-parallelogram lindage described above, start time, control
14 output control signal of device processed, the second piezoelectricity in making driver 13 drive the Flexible Piezoelectric 5 of 4 bottom of parallelogram lindage
Heap 12 extends, then the engagement of 4 lower pole of parallelogram lindage is fixed releases, then drives the first piezoelectric pile 10 to extend, then piezoelectricity three-level
The major axis displacement elongation of 1 Three Diamond ring 9 of displacement amplifying mechanism, acts on connecting rod 3 and pin 2, promotes under parallelogram lindage 4
Portion's bar moves horizontally to the right a segment distance；Then, controller 14 controls driver 13 to second in lower piezoelectric flexible structure 5
12 power-off of piezoelectric pile, then lower pole guide rail 6 is engaged to by Flexible Piezoelectric 5；Then, controller 14 exports control again
Signal processed, makes driver 13 drive the second piezoelectric pile 12 in the middle of 4 upper bar of parallelogram lindage in Flexible Piezoelectric 5 to stretch
It is long, then 4 upper bar constraint relief of parallelogram lindage, then to 10 power-off of the first piezoelectric pile, then piezoelectricity three-level displacement amplifying mechanism 1
The major axis displacement elongation of Three Diamond ring 9, acts on connecting rod 3 and pin 2, promotes 4 upper bar of parallelogram lindage to move right,
So as to walk to the right；If desired walk to the left, then on above-mentioned parallelogram lindage 4 meshing relation of lower beam and guide rail 6 with to the right
It is contrary during walking.
Compared to the prior art the present invention, has the advantage that：
1) compared to step-by-step movement actuator, the plane walking actuator based on piezoelectricity-parallelogram lindage has structure light
Ingeniously, reduce the physical dimension of direction of travel.
2) due to piezoelectric output displacement very little, and output resolution ratio is high, by 1 energy of piezoelectricity three-level displacement amplifying mechanism
The output of displacement square times is realized enough.
3) due to the drive ram parallelogram lindage 4 on line slideway 6 bidirectional walking, the actuator has tight
The characteristic of lattice plane and straight line walking.
4) due to the frequency response characteristic that piezoelectric is excellent, when the output of controller 13 stops or keeps signal, mechanism
Respond rapidly to, stop start, be held or locked in optional position.
5) by the control program of controller 13, piezoelectric pile 12,10 is stretched in an orderly manner, is capable of achieving the double of the walking actuator
Locking is fixed to output and power down.
In a word, the present invention can avoid actuator easily by electromagnetic environmental impact, size is big, stroke is little, step-by-step movement, band electric lock
Only the shortcomings of, there is little electromagnetism interference, size, wide range, continuous start, optional position locking.
Description of the drawings
Fig. 1 is the connection diagram of piezoelectricity three-level displacement amplifying mechanism of the present invention, parallelogram lindage and guide rail.
Fig. 2 be the structure of piezoelectricity three-level displacement amplifying mechanism of the present invention and Flexible Piezoelectric and with driver and controller
Connection diagram.
Fig. 3 is the explosive view of piezoelectricity three-level displacement amplifying mechanism of the present invention.
Fig. 4 is the three dimensional structure diagram of mechanical part of the present invention.
Specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, plane walking actuator of the present invention based on piezoelectricity-parallelogram lindage, bag
Piezoelectricity three-level displacement amplifying mechanism 1 is included, the connecting rod 2 at 1 two ends of piezoelectricity three-level displacement amplifying mechanism is arranged on, 2 other end of connecting rod leads to
The connection parallelogram lindage 4 of pin 3 is crossed, and piezoelectricity is provided with the upper boom of the parallelogram lindage 4 and lower beam symmetric position soft
Property structure 5, the Flexible Piezoelectric 5 includes flexible structure 11 and is arranged on the second piezoelectric pile of 11 long between centers of flexible structure
12, the short axle two ends of flexible structure 11 carry miniature teeth groove, and the top and bottom of the parallelogram lindage 4 are flexible by piezoelectricity
The miniature teeth groove at 5 short axle two ends of structure is engaged with the miniature teeth groove of guide rail 6；The piezoelectricity three-level displacement amplifying mechanism 1 includes
One rhombus ring 7, is positioned over the first piezoelectric pile 10 of 7 long between centers of the first rhombus ring；Be arranged in the first rhombus ring 7 it is outer and with the first water chestnut
The second vertical rhombus ring 8 of shape ring 7, the major axis of the second rhombus ring 8 are coaxial with the short axle of the first rhombus ring 7, are arranged in
Two rhombus rings, the 8 outer and Three Diamond ring 9 vertical with the second rhombus ring 8, the major axis and the second rhombus ring of the Three Diamond ring 9
8 short axle is coaxial；Also include the driver 13 being connected with the first piezoelectric pile 10 and the second piezoelectric pile 12 and connect with driver 13
The controller 14 for connecing.
As the preferred embodiment of the present invention, when there is size to be strict with, the first piezoelectric pile 10 and the second piezoelectric pile
12 piezoelectrics for selecting deflection big, and structure is optimized by mechanical analysis, reduce size.
As the preferred embodiment of the present invention, when structure has weight to limit, piezoelectricity three-level displacement amplifying mechanism 1, pin
Nail 2, parallelogram lindage 4, guide rail 6 all adopt the big light material of rigidity.
The traveling method of plane walking actuator of the present invention based on piezoelectricity-parallelogram lindage, start time, controller
14 output control signals, make driver 13 drive the piezoelectric pile 12 in the Flexible Piezoelectric 5 of parallelogram lindage 4 bottom to stretch
Long, then 5 short-axis direction of Flexible Piezoelectric shortens, and the engagement of 4 lower pole of parallelogram lindage is fixed to be released, then drives piezoelectric pile 10
Elongation, then the major axis displacement elongation of 1 Three Diamond ring 9 of piezoelectricity three-level displacement amplifying mechanism, acts on connecting rod 3 and pin 2, promotes
4 lower pole of parallelogram lindage moves horizontally to the right a segment distance；Then, the control of controller 14 driver 13 is soft to lower piezoelectric
Property structure 5 in 12 power-off of piezoelectric pile, then 5 short-axis direction of Flexible Piezoelectric elongation, lower pole nibbled by Flexible Piezoelectric 5
Guide rail 6 is fixed in conjunction；Then, the output control signal again of controller 14, makes driver 13 drive 4 upper bar of parallelogram lindage
Piezoelectric pile 12 in middle Flexible Piezoelectric 5 extends, then 4 upper bar constraint relief of parallelogram lindage, then to piezoelectric pile 10
Power-off, then 1 displacement of piezoelectricity three-level displacement amplifying mechanism elongation, acts on connecting rod 3 and pin 2, promotes 4 top of parallelogram lindage
Bar moves right, so as to walk to the right.If desired walk to the left, then on above-mentioned parallelogram lindage 4, lower beam and guide rail 6 are engaged
Relation is contrary with when walking to the right.The engagement for first releasing lower pole is fixed, and is moved to the left lower pole.In a word, by control
Flexible with driving piezoelectric pile can make mechanism complete actuator function of walking.
Claims (3)
1. based on piezoelectricity-parallelogram lindage plane walking actuator, it is characterised in that：Including piezoelectricity three-level displacement equations machine
Structure (1), is arranged on the connecting rod (2) at piezoelectricity three-level displacement amplifying mechanism (1) two ends, and connecting rod (2) other end is connected by pin (3)
Parallelogram lindage (4), is provided with Flexible Piezoelectric at the upper boom of parallelogram lindage (4) and lower beam symmetric position
(5), described Flexible Piezoelectric (5) include flexible structure (11) and are arranged on the second piezoelectric pile of the long between centers of flexible structure (11)
(12), the short axle two ends of flexible structure (11) carry miniature teeth groove, and the top and bottom of parallelogram lindage (4) are by pressure
The miniature teeth groove at electric flexible structure (5) short axle two ends is engaged with the miniature teeth groove of guide rail (6)；The piezoelectricity three-level displacement equations machine
Structure (1) includes the first rhombus ring (7), is positioned over first piezoelectric pile (10) of the long between centers of the first rhombus ring (7)；It is arranged in the first water chestnut
Shape ring (7) is outward and the second rhombus ring (8) vertical with the first rhombus ring (7), the major axis of the second rhombus ring (8) and the first water chestnut
The short axle of shape ring (7) is coaxial, is arranged in the second rhombus ring (8) outward and the Three Diamond ring (9) vertical with the second rhombus ring (8),
The major axis of Three Diamond ring (9) is coaxial with the short axle of the second rhombus ring (8)；Also include and the first piezoelectric pile (10) and second
Driver (13) and the controller (14) being connected with driver (13) that piezoelectric pile (12) connects.
2. the plane walking actuator based on piezoelectricity-parallelogram lindage according to claim 1, it is characterised in that：Institute
State n times of piezoelectricity three-level displacement amplifying mechanism (1) one-level displacement enlargement, three-level displacement enlargement n3Times.
3. the plane based on piezoelectricity-parallelogram lindage described in claim 1 is walked the traveling method of actuator, and its feature exists
In：Start time, controller (14) output control signal make driver (13) drive the piezoelectricity of parallelogram lindage (4) bottom
The second piezoelectric pile (12) elongation in flexible structure (5), then the engagement of parallelogram lindage (4) lower pole is fixed releases, then drives
First piezoelectric pile (10) extends, then the major axis displacement elongation of (1) Three Diamond ring (9) of piezoelectricity three-level displacement amplifying mechanism, effect
In connecting rod (3) and pin (2), parallelogram lindage (4) lower pole is promoted to move horizontally to the right a segment distance；Then, controller
(14) driver (13) is controlled to the second piezoelectric pile (12) power-off in lower piezoelectric flexible structure (5), then lower pole is by pressure
Electric flexible structure (5) are engaged to guide rail (6)；Then, controller (14) output control signal again, drives driver (13)
The second piezoelectric pile (12) in the middle of dynamic parallelogram lindage (4) upper bar in Flexible Piezoelectric (5) extends, then parallel four-bar machine
Structure (4) upper bar constraint relief, then to the first piezoelectric pile (10) power-off, then (1) Three Diamond of piezoelectricity three-level displacement amplifying mechanism
The major axis displacement elongation of ring (9), acts on connecting rod (3) and pin (2), promotes parallelogram lindage (4) upper bar to move right,
So as to walk to the right；If desired walk to the left, then on above-mentioned parallelogram lindage (4) meshing relation of lower beam and guide rail (6) with
It is contrary when walking to the right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510256753.3A CN104901582B (en) | 2015-05-19 | 2015-05-19 | Plane walking actuator based on piezoelectric-parallel four-bar mechanisms and walking method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510256753.3A CN104901582B (en) | 2015-05-19 | 2015-05-19 | Plane walking actuator based on piezoelectric-parallel four-bar mechanisms and walking method |
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| CN104901582A CN104901582A (en) | 2015-09-09 |
| CN104901582B true CN104901582B (en) | 2017-03-22 |
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| CN201510256753.3A Expired - Fee Related CN104901582B (en) | 2015-05-19 | 2015-05-19 | Plane walking actuator based on piezoelectric-parallel four-bar mechanisms and walking method |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105391334B (en) * | 2015-11-23 | 2017-07-14 | 西安交通大学 | A kind of electric bidirectional marching type big displacement actuator of magnetic pressure and its start method |
| CN105337529A (en) * | 2015-11-23 | 2016-02-17 | 西安交通大学 | Voice coil-piezoelectric hybrid large displacement actuator |
| CN105429507A (en) * | 2015-12-12 | 2016-03-23 | 西安交通大学 | Piezoelectric torque actuator based on planar two-level displacement enlargement mechanism and actuating method thereof |
| CN109302097B (en) * | 2018-09-28 | 2020-11-24 | 中国科学院长春光学精密机械与物理研究所 | Piezoelectric actuator |
| CN109543249B (en) * | 2018-11-02 | 2023-04-18 | 中国运载火箭技术研究院 | Two-stage plane four-bar mechanism and parameter design method |
| CN110492781B (en) * | 2019-08-05 | 2024-03-29 | 包头稀土研究院 | Three-stage micro-displacement amplifying mechanism and amplifying method thereof |
| CN112887545A (en) * | 2021-01-22 | 2021-06-01 | 维沃移动通信有限公司 | Camera module and electronic equipment |
| CN112887561B (en) * | 2021-01-22 | 2023-02-07 | 维沃移动通信有限公司 | Camera module and electronic equipment |
| CN112887546B (en) * | 2021-01-22 | 2023-04-07 | 维沃移动通信有限公司 | Camera module and electronic equipment |
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|---|---|---|---|---|
| CN103001531A (en) * | 2012-11-20 | 2013-03-27 | 西安交通大学 | Actuator for large displacement of signal piezoelectric stack |
| CN104362893A (en) * | 2014-10-14 | 2015-02-18 | 西安交通大学 | Angular displacement piezoelectric actuator with two-stage displacement amplifying structure |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4621692B2 (en) * | 2005-01-24 | 2011-01-26 | ノイベルク有限会社 | Liquid ejection device |
| JP2008099399A (en) * | 2006-10-10 | 2008-04-24 | Mechano Transformer Corp | Piezoelectric actuator and pressurizing method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103001531A (en) * | 2012-11-20 | 2013-03-27 | 西安交通大学 | Actuator for large displacement of signal piezoelectric stack |
| CN104362893A (en) * | 2014-10-14 | 2015-02-18 | 西安交通大学 | Angular displacement piezoelectric actuator with two-stage displacement amplifying structure |
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