CN110995057B - Full-compliant micro-displacement amplifying mechanism with distributed flexibility - Google Patents
Full-compliant micro-displacement amplifying mechanism with distributed flexibility Download PDFInfo
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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Abstract
A full-compliant micro-displacement amplification mechanism with distributed compliance comprises a basic module, an input module, an output module, an A node, a B node, a C node, a D node, an E node, an A 'node, a B' node, a C 'node and a D' node; the base module is used for being externally connected with the fixed base; the input module is externally connected with a driver, and the displacement of the input module is recorded as input displacement; the output module is used for externally connecting a load, and the displacement of the output module is recorded as output displacement; the node A and the node A 'are positioned on the input module, the node C and the node C' are respectively positioned on the two basic modules, and the node E is positioned on the output module; the elastic pieces are fixedly connected between the node A and the node B, between the node B and the node C, between the node B and the node D, between the node C and the node D, between the node D and the node E, between the node A ' and the node B ', between the node B ' and the node C ', between the node B ' and the node D ', between the node C ' and the node D ', and between the node D ' and the node E, and the mechanism is symmetrical about an OE connecting line.
Description
Technical Field
The invention belongs to the technical field of compliant mechanisms, and particularly relates to a fully compliant micro-displacement amplification mechanism with distributed compliance.
Background
In the biological world, many organisms use the flexibility of their bodies skillfully to convert the available energy into delicate and complex movements, and the human heart uses the flexibility of muscles to complete hundreds of billions of continuous movements without fatigue. In the field of engineering, there are also mechanisms that use flexibility to accomplish motion, i.e. compliant mechanisms. The practical application of the compliance mechanism can be traced back to the bow and the slingshot thousands of years ago, and the theoretical research of the compliance mechanism is rapidly developed in nearly 30 years and becomes an important branch of modern mechanics.
The most remarkable feature of the compliant mechanism is the absence of rigid joints or rigid hinges, and due to the remarkable feature, the compliant mechanism has the following advantages compared with the traditional rigid mechanism: (1) the assembly is avoided, and the integrated design and processing can be realized, so that the miniaturization manufacturing is facilitated; (2) no return error, no clearance and abrasion, thereby realizing high-precision motion; (3) no friction, no noise and long service life; (4) the lubricating is not needed, and the pollution is avoided; (5) the motion rigidity is adjustable, and the device can be used for energy storage and conversion. Based on the above advantages of the compliant mechanism, it has been widely used in the fields of precision engineering, robots, intelligent structures, and the like.
The flexible micro-displacement amplifying mechanism is an important flexible mechanism and has very wide application in precision engineering, especially in the field of micro-nano driving. At present, the existing flexible micro-displacement amplifying mechanism generally has the following defects or shortcomings: (1) the moving part comprises a plurality of structural blocks with relatively large volumes, so that the moving part has large mass, the natural frequency of the mechanism is low, and the high moving speed is difficult to achieve; (2) and a compliant mechanism with concentrated flexibility is adopted, so that stress concentration is easily caused, and the movement range of the mechanism is limited.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a fully compliant micro-displacement amplification mechanism with distributed flexibility, which effectively solves the problems of large mass and concentrated stress of a moving part of the conventional compliant micro-displacement amplification mechanism, and realizes the displacement amplification factor of the fully compliant micro-displacement amplification mechanism through multi-stage amplification.
In order to achieve the purpose, the invention adopts the following technical scheme: a full-compliant micro-displacement amplification mechanism with distributed compliance comprises a basic module, an input module, an output module, an A node, a B node, a C node, a D node, an E node, an A 'node, a B' node, a C 'node and a D' node; the base modules are used for being externally connected with the fixed base, and the number of the base modules is two; the input module is used for being externally connected with a driver, and the displacement of the input module is recorded as input displacement; the output module is used for externally connecting a load, and the displacement of the output module is recorded as output displacement; the node A and the node A 'are positioned on the input module, the node C and the node C' are respectively positioned on the two basic modules, and the node E is positioned on the output module; and the elastic pieces are fixedly connected between the node A and the node B, between the node B and the node C, between the node B and the node D, between the node C and the node D, between the node D and the node E, between the node A ' and the node B ', between the node B ' and the node C ', between the node B ' and the node D ', between the node C ' and the node D ', and between the node D ' and the node E.
Setting the central O point of the input module as the origin of the plane coordinate system, and setting the coordinates of the A node as (x) a ，y a ) The coordinates of the node B are set to (x) b ，y b ) The coordinate of the C node is set as (x) c ，y c ) The coordinates of the D node are set to (x) d ，y d ) The coordinate of the E node is set to (x) e ，y e ) The coordinates of the A' node are set to (x) a′ ，y a′ ) The coordinates of the B' node are set to (x) b′ ，y b′ ) The coordinates of the C' node are set to (x) c′ ，y c′ ) The coordinates of the D' node are set to (x) d′ ，y d′ ) (ii) a The positions of the node A, the node B, the node C, the node D, the node E, the node A ', the node B', the node C 'and the node D' meet the following requirements: (1) x a <x b <x c ≤x d ；②、x e ＝0；③、y d >y e >y a >y b >y c (ii) a (4) The fully compliant micro-displacement amplifying mechanism is symmetrical about the OE connection line, namely x a ＝-x a′ ，x b ＝-x b′ ，x c ＝-x c′ ，x d ＝-x d′ ，y a ＝y a′ ，y b ＝y b ′ ，y c ＝y c′ ，y d ＝y d′ 。
The invention has the beneficial effects that:
according to the fully compliant micro-displacement amplification mechanism with distributed flexibility, a large concentrated mass block is not arranged between the input module and the output module, so that the mass of a moving part is small, and high natural frequency and high moving speed can be easily realized; the structure between the input module and the output module has integrally distributed flexibility, so that stress concentration is effectively reduced, and a larger movement range can be realized; the invention contains a plurality of displacement amplification units, which is beneficial to realizing displacement amplification with larger times.
Drawings
FIG. 1 is a schematic perspective view of a fully compliant micro-displacement amplification mechanism with distributed compliance according to the present invention;
FIG. 2 is a schematic diagram of an elevational structure of a fully compliant micro-displacement amplifying mechanism with distributed compliance according to the present invention; (ii) a
In the figure, 1 is a basic module, 2 is an input module, 3 is an output module, and 4 is an elastic sheet.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 and 2, a fully compliant micro-displacement amplification mechanism with distributed compliance includes a base module 1, an input module 2, an output module 3, a node a, a node B, a node C, a node D, a node E, a' node B, a node C, and a node D; the base modules 1 are used for being externally connected with a fixed base, and the number of the base modules 1 is two; the input module 2 is used for being externally connected with a driver, and the displacement of the input module 2 is recorded as input displacement; the output module 3 is used for externally connecting a load, and the displacement of the output module 3 is recorded as output displacement; the node A and the node A 'are positioned on the input module 2, the node C and the node C' are respectively positioned on the two basic modules 1, and the node E is positioned on the output module 3; the elastic sheets 4 are fixedly connected between the node A and the node B, between the node B and the node C, between the node B and the node D, between the node C and the node D, between the node D and the node E, between the node A ' and the node B ', between the node B ' and the node C ', between the node B ' and the node D ', between the node C ' and the node D ', and between the node D ' and the node E.
The center point O of the input module 2 is set as the origin of the plane coordinate system, and the coordinates of the A node are set as (x) a ，y a ) The coordinates of the node B are set to (x) b ，y b ) The coordinate of the C node is set as (x) c ，y c ) The coordinates of the D node are set to (x) d ，y d ) The coordinates of the E node are set to (x) e ，y e ) The coordinates of the A' node are set to (x) a′ ，y a′ ) The coordinates of the B' node are set to (x) b′ ，y b′ ) The coordinates of the C' node are set to (x) c′ ，y c′ ) The coordinates of the D' node are set to (x) d′ ，y d′ ) (ii) a The positions of the node A, the node B, the node C, the node D, the node E, the node A ', the node B', the node C 'and the node D' meet the following requirements: (1) x, x a <x b <x c ≤x d ；②、x e ＝0；③、y d >y e >y a >y b >y c (ii) a (4) The fully compliant micro-displacement amplifying mechanism is symmetrical about the OE connecting lineI.e. x a ＝-x a′ ，x b ＝-x b′ ，x c ＝-x c′ ，x d ＝-x d′ ，y a ＝y a′ ，y b ＝y b′ ，y c ＝y c′ ，y d ＝y d′ 。
In this embodiment, a fully compliant micro-displacement amplification mechanism with distributed flexibility is composed of a base module 1, an input module 2, an output module 3, an a node, a B node, a C node, a D node, an E node, an a 'node, a B' node, a C 'node, a D' node, and an elastic sheet 4, and is manufactured by an integrated processing technique, and the material is an aluminum alloy (any solid metal or non-metal material can be selected according to actual needs); the driver externally connected with the input module 2 is a piezoelectric ceramic driver or a comb-shaped driver; the thickness of the elastic sheet 4 between each node is 0.5mm, and the width is 10mm; the coordinate of the O point at the center of the input module 2 is (0,0), the coordinate of the a node is (3,0), the coordinate of the B node is (8, -10), the coordinate of the C node is (20, -18), the coordinate of the D node is (25, 12), the coordinate of the E node is (0,6), the coordinate of the a 'node is (-3,0), the coordinate of the B' node is (-8, -10), the coordinate of the C 'node is (-20, -18), and the coordinate of the D' node is (-25, 12). It has been found that the ratio of the output displacement to the input displacement is about 13.3 (i.e., the amplification factor is about 13.3).
To increase the ratio of output displacement to input displacement, the coordinates of the nodes, the length, height, width and material of the spring plates 4 may be optimized. At the same time, the present invention can also be designed and manufactured on a micro-scale and larger scale.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (1)
1. A full-compliant micro-displacement amplification mechanism with distributed flexibility is characterized in that: comprises a basic module, an input module, an output module, a node A, a node B, a node C, a node D and a node EA node, an A 'node, a B' node, a C 'node and a D' node; the base modules are used for being externally connected with the fixed base, and the number of the base modules is two; the input module is used for being externally connected with a driver, and the displacement of the input module is recorded as input displacement; the output module is used for externally connecting a load, and the displacement of the output module is recorded as output displacement; the node A and the node A 'are positioned on the input module, the node C and the node C' are respectively positioned on the two basic modules, and the node E is positioned on the output module; the elastic sheets are fixedly connected between the node A and the node B, between the node B and the node C, between the node B and the node D, between the node C and the node D, between the node D and the node E, between the node A ' and the node B ', between the node B ' and the node C ', between the node B ' and the node D ', between the node C ' and the node D ', and between the node D ' and the node E; setting the central O point of the input module as the origin of the plane coordinate system, and setting the coordinate of the A node as (x) a ，y a ) The coordinates of the node B are set to (x) b ，y b ) The coordinate of the C node is set as (x) c ，y c ) The coordinates of the D node are set to (x) d ，y d ) The coordinate of the E node is set to (x) e ，y e ) The coordinates of the A' node are set to (x) a′ ，y a′ ) The coordinates of the B' node are set to (x) b′ ，y b′ ) The coordinates of the C' node are set to (x) c′ ，y c′ ) The coordinates of the D' node are set to (x) d′ ，y d′ ) (ii) a The positions of the node A, the node B, the node C, the node D, the node E, the node A ', the node B', the node C 'and the node D' meet the following requirements: (1) x a <x b <x c ≤x d ；②、x e ＝0；③、y d >y e >y a >y b >y c (ii) a (4) The fully compliant micro-displacement amplifying mechanism is symmetrical about the OE connection line, namely x a ＝-x a′ ，x b ＝-x b′ ，x c ＝-x c′ ，x d ＝-x d′ ，y a ＝y a′ ，y b ＝y b ′ ，y c ＝y c ′ ，y d ＝y d ′ 。
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| CN206323312U (en) * | 2017-01-12 | 2017-07-11 | 广东工业大学 | A kind of Grazing condition micro displacement magnifying mechanism |
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