CN105490581A - High-precision large-torque piezoelectric rotary actuation apparatus with H-type structure and method - Google Patents
High-precision large-torque piezoelectric rotary actuation apparatus with H-type structure and method Download PDFInfo
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Abstract
含有H型结构的高精度大扭矩压电旋转作动装置及方法，该作动器包括作动器底座，安装于底座上，可自由旋转的输出轴，分别通过柔性铰链与输出轴连接的两个作动臂，分别连接于作动臂端部的菱形环，分别安装在菱形环内部的压电陶瓷，连接于作动臂之间的压电陶瓷6，以及通过支柱与底座相连接的上部顶盖，安装完成后底座与顶盖之间的距离小于菱形环的横向长度，以保证压电陶瓷在断电情况下依靠安装预紧锁止菱形环，实现对输出轴旋转运动的锁止；本发明还提供了该作动器作动方法，按照一定次序驱动压电陶瓷，能够实现作动器高精度大扭矩旋转运动的输出，本发明具有结构重量轻，体积小，能够输出大扭矩、大转角，断电自锁功耗低的特点。具有广泛的应用前景与极高的应用价值。
A high-precision, high-torque piezoelectric rotary actuating device and method including an H-shaped structure. The actuator includes an actuator base installed on the base, a freely rotatable output shaft, and two shafts connected to the output shaft through flexible hinges. Two actuating arms, respectively connected to the rhombic ring at the end of the actuating arm, respectively installed piezoelectric ceramics inside the rhombic ring, piezoelectric ceramics 6 connected between the actuating arms, and the upper part connected to the base through the pillar Top cover, after installation, the distance between the base and the top cover is less than the transverse length of the rhombic ring, so as to ensure that the piezoelectric ceramics can lock the rotation of the output shaft by installing the pre-tightened locking diamond ring when the power is off; The invention also provides the actuation method of the actuator, which drives the piezoelectric ceramics according to a certain order, and can realize the output of the high-precision and high-torque rotary motion of the actuator. The invention has the advantages of light structure, small volume, high torque output, Large corner, self-locking when power off, low power consumption. It has broad application prospects and high application value.
Description
技术领域technical field
本发明涉及一种通过压电陶瓷驱动的作动装置，具体涉及一种含有H型结构的高精度大扭矩压电旋转作动装置及方法。The invention relates to an actuating device driven by piezoelectric ceramics, in particular to a high-precision and high-torque piezoelectric rotary actuating device and method with an H-shaped structure.
背景技术Background technique
近年来压电驱动装置不断发展，支持了国防、航天，机械制造等重要工业的发展建设，也衍生出了品种繁多的压电作动装置，然而受制于压电材料作动行程小的缺点，压电陶瓷作动器难以实现大行程输出，特别是大转角的扭矩输出更难实现。因此迫切需要一种结构简单轻便，驱动行程大，分辨率高的步进式旋转作动装置。In recent years, the continuous development of piezoelectric actuators has supported the development and construction of important industries such as national defense, aerospace, and machinery manufacturing, and has also derived a wide variety of piezoelectric actuators. However, due to the shortcomings of piezoelectric materials with small actuating strokes, Piezoelectric ceramic actuators are difficult to achieve large stroke output, especially torque output with large rotation angle is even more difficult to achieve. Therefore, there is an urgent need for a step-type rotary actuating device with a simple and portable structure, a large driving stroke, and a high resolution.
发明内容Contents of the invention
为了满足上述需求，本发明的目的在于提供一种含有H型结构的高精度大扭矩压电旋转作动装置及方法，使用三个压电陶瓷相互配合实现大角度的旋转运动，并且采用菱形环实现作动器断电锁止，具有结构重量轻，体积小，能够输出大扭矩、大转角，断电自锁功耗低的特点。In order to meet the above needs, the object of the present invention is to provide a high-precision and high-torque piezoelectric rotary actuation device and method with an H-shaped structure, using three piezoelectric ceramics to cooperate with each other to achieve a large-angle rotary motion, and using a diamond ring Realize the power-off locking of the actuator, which has the characteristics of light structure, small size, high output torque, large rotation angle, and low power consumption for power-off self-locking.
为达到上述目的，本发明所采用的技术方案如下：In order to achieve the above object, the technical scheme adopted in the present invention is as follows:
一种含有H型结构的高精度大扭矩压电旋转作动装置，包括底座1，安装于底座1上并能够自由旋转的输出轴2，分别通过柔性铰链与输出轴2连接的第一作动臂3-1和第二作动臂3-2，连接于第一作动臂3-1一端的第一菱形环4-1，连接于第二作动臂3-2与第一作动臂3-1相对应端的第二菱形环4-2，分别安装在第一菱形环4-1和第二菱形环4-2内部的第一压电陶瓷5-1和第二压电陶瓷5-2，连接于第一作动臂3-1和第二作动臂3-2另一端之间的压电陶瓷6，以及通过支柱与底座1相连接的上部顶盖7；所述第一菱形环4-1和第二菱形环4-2的长轴一端分别与第一作动臂3-1和第二作动臂3-2连接；所述第一作动臂3-1和第二作动臂3-2与输出轴2共同构成“H”型结构；安装完成后底座1与上部顶盖7之间的距离小于第一菱形环4-1和第二菱形环4-2的短轴长度即横向长度，以保证第一压电陶瓷5-1和第二压电陶瓷5-2在断电情况下结构实现对输出轴2旋转运动的锁止。A high-precision, high-torque piezoelectric rotary actuating device with an H-shaped structure, including a base 1, an output shaft 2 mounted on the base 1 and capable of rotating freely, and a first actuating device connected to the output shaft 2 through flexible hinges, respectively. The arm 3-1 and the second actuating arm 3-2 are connected to the first rhombic ring 4-1 at one end of the first actuating arm 3-1, and are connected to the second actuating arm 3-2 and the first actuating arm The second rhombic ring 4-2 at the corresponding end of 3-1, the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-1 installed inside the first rhombic ring 4-1 and the second rhombic ring 4-2 respectively 2. The piezoelectric ceramic 6 connected between the other end of the first actuating arm 3-1 and the second actuating arm 3-2, and the upper top cover 7 connected to the base 1 through a pillar; the first rhombus One end of the long axis of the ring 4-1 and the second diamond-shaped ring 4-2 is respectively connected with the first actuating arm 3-1 and the second actuating arm 3-2; the first actuating arm 3-1 and the second actuating arm The actuating arm 3-2 and the output shaft 2 jointly form an "H"-shaped structure; after the installation is completed, the distance between the base 1 and the upper top cover 7 is smaller than the length of the first diamond-shaped ring 4-1 and the second diamond-shaped ring 4-2. The shaft length is the transverse length, so as to ensure that the structure of the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-2 can lock the rotational movement of the output shaft 2 when the power is off.
使用长轴与水平面平行即横向放置的第一菱形环4-1和第二菱形环4-2进行锁止，且具有断电锁止功能。The first rhombic ring 4-1 and the second rhombic ring 4-2 are used for locking with the long axis parallel to the horizontal plane, that is, placed laterally, and have a power-off locking function.
上述所述的含有H型结构的高精度大扭矩压电旋转作动装置实现大扭矩步进式旋转作动的方法，能实现双向旋转运动输出；结构初始状态第一压电陶瓷5-1、第二压电陶瓷5-2和压电陶瓷6都处于断电状态，通过第一菱形环4-1、第二菱形环4-2与底座1和上部顶盖7之间的摩擦接触锁止输出轴2；The above-mentioned high-precision and high-torque piezoelectric rotary actuation device with H-shaped structure realizes the method of high-torque step-by-step rotary actuation, which can realize bidirectional rotary motion output; the initial state of the structure is the first piezoelectric ceramic 5-1, Both the second piezoelectric ceramic 5-2 and the piezoelectric ceramic 6 are in a power-off state, and are locked by the frictional contact between the first diamond ring 4-1, the second diamond ring 4-2, the base 1 and the upper top cover 7 output shaft 2;
旋转作动装置驱动输出轴逆时针旋转时采用如下步骤：第一步，第一压电陶瓷5-1通电，推动第一菱形环4-1长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触；第二步，保持第一压电陶瓷5-1通电，压电陶瓷6通电，推动第一作动臂3-1上的柔性铰铰发生转动、第一菱形环4-1和第一压电陶瓷5-1在第一作动臂3-1带动下向逆时针方向产生位移；第三步，保持压电陶瓷6通电，第一压电陶瓷5-1断电，第一菱形环4-1弹性恢复，与底座1和上部顶盖7接触锁止，此时第一作动臂3-1上的柔性铰链仍保持弹性变形；第四步，第二压电陶瓷5-2通电，第二菱形环4-2长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触，此时输出轴2在第一作动臂3-1柔性铰链弹性回复力的驱动下沿逆时针方向发生转，同时第二作动臂3-2、第二菱形环4-2以及第二压电陶瓷5-2也将向逆时针方向产生位移；第五步，第二压电陶瓷5-2断电，第二菱形环4-2弹性恢复，与底座1和上部顶盖7接触锁止；至此作动装置恢复到第一步之前的状态，且与之相比，除底座1和上部顶盖7之外，包括输出轴2在内的所有结构都完成了沿逆时针的一步旋转运动，重复上述一至五步，即实现作动装置输出轴2的大转角逆时针旋转；The following steps are adopted when the rotary actuating device drives the output shaft to rotate counterclockwise: first step, the first piezoelectric ceramic 5-1 is energized, and the long axis of the first rhombic ring 4-1 is pushed to expand, and the short axis is to shrink laterally, detaching from the base 1 and the frictional contact between the upper top cover 7; the second step is to keep the first piezoelectric ceramic 5-1 electrified, and the piezoelectric ceramic 6 electrified to push the flexible hinge on the first operating arm 3-1 to rotate, The first rhombic ring 4-1 and the first piezoelectric ceramic 5-1 are driven by the first operating arm 3-1 to produce a displacement in the counterclockwise direction; the third step is to keep the piezoelectric ceramic 6 energized, and the first piezoelectric ceramic 5-1 Power off, the first rhombic ring 4-1 recovers elastically, contacts and locks with the base 1 and the upper top cover 7, at this time the flexible hinge on the first actuating arm 3-1 remains elastically deformed; the fourth step , the second piezoelectric ceramic 5-2 is energized, the long axis of the second rhombic ring 4-2 expands, and the short axis shrinks laterally, breaking away from the frictional contact between the base 1 and the upper top cover 7. At this time, the output shaft 2 is at the Driven by the elastic restoring force of the flexible hinge of the first actuating arm 3-1, it rotates in the counterclockwise direction, and at the same time, the second actuating arm 3-2, the second rhombic ring 4-2 and the second piezoelectric ceramic 5-2 also rotate Displacement is generated in the counterclockwise direction; in the fifth step, the second piezoelectric ceramic 5-2 is powered off, and the second rhombic ring 4-2 recovers elastically, and contacts and locks with the base 1 and the upper top cover 7; so far the actuating device returns to The state before the first step, and compared with it, except for the base 1 and the upper top cover 7, all structures including the output shaft 2 have completed one step of counterclockwise rotation, repeat the above steps 1 to 5, That is to realize the counterclockwise rotation of the output shaft 2 of the actuating device at a large rotation angle;
旋转作动装置驱动输出轴顺时针旋转时采用如下步骤：第一步，第二压电陶瓷5-2通电，推动第二菱形环4-2长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触；第二步，保持第二压电陶瓷5-2通电，压电陶瓷6通电，推动第二作动臂3-2上的柔性铰链发生转动、第二菱形环4-2、第二压电陶瓷5-2在第二作动臂3-2带动下向顺时针方向产生位移；第三步，保持压电陶瓷6通电，第二压电陶瓷5-2断电，第二菱形环4-2弹性恢复，与底座1和上部顶盖7接触锁止，此时第二作动臂3-2上的柔性铰链仍保持弹性变形；第四步，第一压电陶瓷5-1通电，第一菱形环4-1长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触，此时输出轴2在第二作动臂3-2柔性铰链弹性回复力的驱动下沿顺时针方向发生转动，同时第一作动臂3-1、第一菱形环4-1以及第一压电陶瓷5-1也将向顺时针方向产生位移；第五步，第一压电陶瓷5-1断电，第一菱形环4-1弹性恢复，与底座1和上部顶盖7接触锁止；至此作动器恢复到第一步之前的状态，且与之相比，除底座1和上部顶盖7之外，包括输出轴2在内的所有结构都完成了沿逆时针的一步旋转运动，重复上述一至五步，即实现作动装置输出轴2的大转角逆时针旋转。The following steps are adopted when the rotary actuator drives the output shaft to rotate clockwise: first step, the second piezoelectric ceramic 5-2 is energized to push the long axis of the second diamond-shaped ring 4-2 to expand, and the short axis is to shrink laterally to separate from the base 1 and the frictional contact between the top cover 7; the second step is to keep the second piezoelectric ceramic 5-2 energized, and the piezoelectric ceramic 6 is energized to push the flexible hinge on the second operating arm 3-2 to rotate. The second rhombic ring 4-2 and the second piezoelectric ceramic 5-2 are driven by the second operating arm 3-2 to generate a displacement in the clockwise direction; the third step is to keep the piezoelectric ceramic 6 energized, and the second piezoelectric ceramic 5 -2 power off, the second diamond-shaped ring 4-2 recovers elastically, contacts and locks with the base 1 and the upper top cover 7, at this moment, the flexible hinge on the second actuating arm 3-2 remains elastically deformed; the fourth step, The first piezoelectric ceramic 5-1 is energized, the long axis of the first rhombic ring 4-1 expands, and the short axis shrinks laterally, breaking away from the frictional contact with the base 1 and the upper top cover 7. At this time, the output shaft 2 is in the second The actuating arm 3-2 is driven by the elastic restoring force of the flexible hinge to rotate clockwise, and at the same time, the first actuating arm 3-1, the first rhombic ring 4-1 and the first piezoelectric ceramic 5-1 will also move toward the Displacement is generated in the clockwise direction; in the fifth step, the first piezoelectric ceramic 5-1 is powered off, and the first rhombic ring 4-1 recovers elastically, and contacts and locks with the base 1 and the upper top cover 7; so far the actuator returns to the first The state before one step, and compared with it, except for the base 1 and the upper top cover 7, all the structures including the output shaft 2 have completed one step of counterclockwise rotation, repeating the above steps 1 to 5, that is Realize the counterclockwise rotation of the large rotation angle of the output shaft 2 of the actuating device.
与现有技术相比，本发明具有下述优势：Compared with prior art, the present invention has following advantage:
1、与传统的单纯的电机驱动装置相比，本发明通过压电陶瓷推动驱动，能够实现高精度大扭矩输出。1. Compared with the traditional simple motor drive device, the present invention can realize high-precision and high-torque output by driving through piezoelectric ceramics.
2、采用步进的方式实现转角输出，在充分发挥压电陶瓷作动精度高的基础上实现双向大转角旋转运动。2. The stepping method is used to realize the output of the rotation angle, and the two-way large-angle rotation movement is realized on the basis of giving full play to the high actuation precision of the piezoelectric ceramics.
3、采用菱形环进行锁止，在放大压电陶瓷作动位移、提高锁止可靠性的同时，具有断电自锁功能，因此作动器功耗低，节能环保。3. The diamond-shaped ring is used for locking. While amplifying the displacement of piezoelectric ceramics and improving the reliability of locking, it also has the function of self-locking when power is off, so the actuator has low power consumption, energy saving and environmental protection.
4、作动器结构简单，便于加工安装。4. The structure of the actuator is simple, which is convenient for processing and installation.
附图说明Description of drawings
图1为本发明作动装置的爆炸示意图。Fig. 1 is an exploded schematic view of the actuating device of the present invention.
图2为本发明作动装置的示意图。Fig. 2 is a schematic diagram of the actuating device of the present invention.
具体实施方式detailed description
下面结合附图和具体实施方式对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
如图1和图2所示，本发明一种含有H型结构的高精度大扭矩压电旋转作动装置，包括底座1，安装于底座1上并能够自由旋转的输出轴2，分别通过柔性铰链与输出轴2连接的第一作动臂3-1和第二作动臂3-2，连接于第一作动臂3-1一端的第一菱形环4-1，连接于第二作动臂3-2与第一作动臂3-1相对应端的第二菱形环4-2，分别安装在第一菱形环4-1和第二菱形环4-2内部的第一压电陶瓷5-1和第二压电陶瓷5-2，连接于第一作动臂3-1和第二作动臂3-2另一端之间的压电陶瓷6，以及通过支柱与底座1相连接的上部顶盖7；所述第一菱形环4-1和第二菱形环4-2的长轴一端分别与第一作动臂3-1和第二作动臂3-2连接；所述第一作动臂3-1和第二作动臂3-2与输出轴2共同构成“H”型结构；安装完成后底座1与上部顶盖7之间的距离小于第一菱形环4-1和第二菱形环4-2的短轴长度即横向长度，以保证第一压电陶瓷5-1和第二压电陶瓷5-2在断电情况下结构实现对输出轴2旋转运动的锁止。As shown in Figures 1 and 2, the present invention contains a high-precision, high-torque piezoelectric rotary actuating device with an H-shaped structure, including a base 1, an output shaft 2 that is installed on the base 1 and can rotate freely, respectively through flexible The first actuating arm 3-1 and the second actuating arm 3-2, which are hinged to the output shaft 2, are connected to the first diamond-shaped ring 4-1 at one end of the first actuating arm 3-1, and are connected to the second actuating arm 3-1. The second rhombic ring 4-2 at the end corresponding to the first actuating arm 3-1 of the boom 3-2, and the first piezoelectric ceramics installed inside the first rhombic ring 4-1 and the second rhombic ring 4-2 respectively 5-1 and the second piezoelectric ceramic 5-2, the piezoelectric ceramic 6 connected between the other end of the first operating arm 3-1 and the second operating arm 3-2, and connected to the base 1 through a pillar The top cover 7 of the upper part; one end of the major axis of the first rhombic ring 4-1 and the second rhomboid ring 4-2 is connected with the first actuating arm 3-1 and the second actuating arm 3-2 respectively; The first actuating arm 3-1, the second actuating arm 3-2 and the output shaft 2 together form an "H"-shaped structure; after the installation is completed, the distance between the base 1 and the upper top cover 7 is smaller than that of the first diamond-shaped ring 4- 1 and the minor axis length of the second rhombic ring 4-2, that is, the transverse length, to ensure that the structure of the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-2 realizes the rotation movement of the output shaft 2 when the power is off. locked.
使用长轴与水平面平行即横向放置的第一菱形环4-1和第二菱形环4-2进行锁止，且具有断电锁止功能。The first rhombic ring 4-1 and the second rhombic ring 4-2 are used for locking with the long axis parallel to the horizontal plane, that is, placed laterally, and have a power-off locking function.
上述所述的含有H型结构的高精度大扭矩压电旋转作动装置实现大扭矩步进式旋转作动的方法，能实现双向旋转运动输出；结构初始状态第一压电陶瓷5-1、第二压电陶瓷5-2和压电陶瓷6都处于断电状态，通过第一菱形环4-1、第二菱形环4-2与底座1和上部顶盖7之间的摩擦接触锁止输出轴2；The above-mentioned high-precision and high-torque piezoelectric rotary actuation device with H-shaped structure realizes the method of high-torque step-by-step rotary actuation, which can realize bidirectional rotary motion output; the initial state of the structure is the first piezoelectric ceramic 5-1, Both the second piezoelectric ceramic 5-2 and the piezoelectric ceramic 6 are in a power-off state, and are locked by the frictional contact between the first diamond ring 4-1, the second diamond ring 4-2, the base 1 and the upper top cover 7 output shaft 2;
旋转作动装置驱动输出轴逆时针旋转时采用如下步骤：第一步，第一压电陶瓷5-1通电，推动第一菱形环4-1长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触；第二步，保持第一压电陶瓷5-1通电，压电陶瓷6通电，推动第一作动臂3-1上的柔性铰铰发生转动、第一菱形环4-1和第一压电陶瓷5-1在第一作动臂3-1带动下向逆时针方向产生位移；第三步，保持压电陶瓷6通电，第一压电陶瓷5-1断电，第一菱形环4-1弹性恢复，与底座1和上部顶盖7接触锁止，此时第一作动臂3-1上的柔性铰链仍保持弹性变形；第四步，第二压电陶瓷5-2通电，第二菱形环4-2长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触，此时输出轴2在第一作动臂3-1柔性铰链弹性回复力的驱动下沿逆时针方向发生转，同时第二作动臂3-2、第二菱形环4-2以及第二压电陶瓷5-2也将向逆时针方向产生位移；第五步，第二压电陶瓷5-2断电，第二菱形环4-2弹性恢复，与底座1和上部顶盖7接触锁止；至此作动装置恢复到第一步之前的状态，且与之相比，除底座1和上部顶盖7之外，包括输出轴2在内的所有结构都完成了沿逆时针的一步旋转运动，重复上述一至五步，即实现作动装置输出轴2的大转角逆时针旋转；The following steps are adopted when the rotary actuating device drives the output shaft to rotate counterclockwise: first step, the first piezoelectric ceramic 5-1 is energized, and the long axis of the first rhombic ring 4-1 is pushed to expand, and the short axis is to shrink laterally, detaching from the base 1 and the frictional contact between the upper top cover 7; the second step is to keep the first piezoelectric ceramic 5-1 electrified, and the piezoelectric ceramic 6 electrified to push the flexible hinge on the first operating arm 3-1 to rotate, The first rhombic ring 4-1 and the first piezoelectric ceramic 5-1 are driven by the first operating arm 3-1 to produce a displacement in the counterclockwise direction; the third step is to keep the piezoelectric ceramic 6 energized, and the first piezoelectric ceramic 5-1 Power off, the first rhombic ring 4-1 recovers elastically, contacts and locks with the base 1 and the upper top cover 7, at this time the flexible hinge on the first actuating arm 3-1 remains elastically deformed; the fourth step , the second piezoelectric ceramic 5-2 is energized, the long axis of the second rhombic ring 4-2 expands, and the short axis shrinks laterally, breaking away from the frictional contact between the base 1 and the upper top cover 7. At this time, the output shaft 2 is at the Driven by the elastic restoring force of the flexible hinge of the first actuating arm 3-1, it rotates in the counterclockwise direction, and at the same time, the second actuating arm 3-2, the second rhombic ring 4-2 and the second piezoelectric ceramic 5-2 also rotate Displacement is generated in the counterclockwise direction; in the fifth step, the second piezoelectric ceramic 5-2 is powered off, and the second rhombic ring 4-2 recovers elastically, and contacts and locks with the base 1 and the upper top cover 7; so far the actuating device returns to The state before the first step, and compared with it, except for the base 1 and the upper top cover 7, all structures including the output shaft 2 have completed one step of counterclockwise rotation, repeat the above steps 1 to 5, That is to realize the counterclockwise rotation of the output shaft 2 of the actuating device at a large rotation angle;
旋转作动装置驱动输出轴顺时针旋转时采用如下步骤：第一步，第二压电陶瓷5-2通电，推动第二菱形环4-2长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触；第二步，保持第二压电陶瓷5-2通电，压电陶瓷6通电，推动第二作动臂3-2上的柔性铰链发生转动、第二菱形环4-2、第二压电陶瓷5-2在第二作动臂3-2带动下向顺时针方向产生位移；第三步，保持压电陶瓷6通电，第二压电陶瓷5-2断电，第二菱形环4-2弹性恢复，与底座1和上部顶盖7接触锁止，此时第二作动臂3-2上的柔性铰链仍保持弹性变形；第四步，第一压电陶瓷5-1通电，第一菱形环4-1长轴膨胀，短轴即横向收缩，脱离与底座1和上部顶盖7之间的摩擦接触，此时输出轴2在第二作动臂3-2柔性铰链弹性回复力的驱动下沿顺时针方向发生转动，同时第一作动臂3-1、第一菱形环4-1以及第一压电陶瓷5-1也将向顺时针方向产生位移；第五步，第一压电陶瓷5-1断电，第一菱形环4-1弹性恢复，与底座1和上部顶盖7接触锁止；至此作动器恢复到第一步之前的状态，且与之相比，除底座1和上部顶盖7之外，包括输出轴2在内的所有结构都完成了沿逆时针的一步旋转运动，重复上述一至五步，即实现作动装置输出轴2的大转角逆时针旋转。The following steps are adopted when the rotary actuator drives the output shaft to rotate clockwise: first step, the second piezoelectric ceramic 5-2 is energized to push the long axis of the second diamond-shaped ring 4-2 to expand, and the short axis is to shrink laterally to separate from the base 1 and the frictional contact between the top cover 7; the second step is to keep the second piezoelectric ceramic 5-2 energized, and the piezoelectric ceramic 6 is energized to push the flexible hinge on the second operating arm 3-2 to rotate. The second rhombic ring 4-2 and the second piezoelectric ceramic 5-2 are driven by the second operating arm 3-2 to generate a displacement in the clockwise direction; the third step is to keep the piezoelectric ceramic 6 energized, and the second piezoelectric ceramic 5 -2 Power off, the second diamond-shaped ring 4-2 recovers elastically, contacts and locks with the base 1 and the upper top cover 7, and at this moment, the flexible hinge on the second actuating arm 3-2 remains elastically deformed; the fourth step, The first piezoelectric ceramic 5-1 is energized, the long axis of the first rhombic ring 4-1 expands, and the short axis shrinks laterally, breaking away from the frictional contact with the base 1 and the upper top cover 7. At this time, the output shaft 2 is in the second The actuating arm 3-2 is driven by the elastic restoring force of the flexible hinge to rotate clockwise, and at the same time the first actuating arm 3-1, the first rhombic ring 4-1 and the first piezoelectric ceramic 5-1 will also move toward the Displacement is generated in the clockwise direction; in the fifth step, the first piezoelectric ceramic 5-1 is powered off, the first rhombic ring 4-1 recovers elastically, and contacts and locks with the base 1 and the upper top cover 7; so far the actuator returns to the first The state before one step, and compared with it, except for the base 1 and the upper top cover 7, all structures including the output shaft 2 have completed one step of counterclockwise rotation, repeating the above steps 1 to 5, that is Realize the counterclockwise rotation of the large rotation angle of the output shaft 2 of the actuating device.
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