CN112271953A - Inchworm stick-slip hybrid drive type piezoelectric linear driver and installation process - Google Patents
Inchworm stick-slip hybrid drive type piezoelectric linear driver and installation process Download PDFInfo
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- CN112271953A CN112271953A CN202011185106.5A CN202011185106A CN112271953A CN 112271953 A CN112271953 A CN 112271953A CN 202011185106 A CN202011185106 A CN 202011185106A CN 112271953 A CN112271953 A CN 112271953A
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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
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/023—Inchworm motors
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- 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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- H—ELECTRICITY
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Abstract
The invention discloses an inchworm stick-slip hybrid drive type piezoelectric linear driver and an installation process thereof. The invention has simple structure, can output larger driving force and simultaneously can effectively inhibit the displacement rollback phenomenon of the brake platform; the friction plate is arranged through the clamping mechanism, and the relative displacement between the stop platform and the clamping mechanism during instantaneous motion can be effectively prevented, so that the displacement is reduced.
Description
Technical Field
The invention relates to the technical field of high-precision positioning driving, in particular to an inchworm stick-slip hybrid driving type piezoelectric linear driver and an installation process.
Background
There is an increasing demand for high precision positioning drive technology in the fields of scientific research and engineering, such as precision/ultra-precision machining, scanning probe microscopy, biomedical science, and the like. The piezoelectric material has excellent performances such as fast response and high resolution, so that the research of the precise positioning technology based on the piezoelectric material is more and more popular. However, the working stroke of a single piezoelectric stack is typically only a few microns or tens of microns, which is not sufficient for mid-span positioning in practical applications. In order to obtain a large working stroke, such as millimeter or even centimeter, several stepping driving principles have been proposed and various piezoelectric actuators have been developed, mainly including ultrasonic resonance type, inertial stick-slip type, inchworm type. Compared with the ultrasonic resonance type driving technology, the inchworm type and stick-slip type driving technology has wider working frequency range and stronger robustness. However, both inchworm and stick-slip drive technologies have their inherent limitations and unique advantages. The stick-slip driver has the advantages of simple structure, relatively high speed but low driving force, and the rotor of the stick-slip driver has the displacement backspacing phenomenon. The inchworm type has a large driving force due to clamping action, but has a complex structure and limited driving frequency and speed, so that the inchworm type is urgently needed to be improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an inchworm stick-slip hybrid drive type piezoelectric linear driver and an installation process, wherein the driver has a simple structure, can output a larger driving force and can effectively inhibit the displacement rollback phenomenon of a brake platform; the friction plate is arranged through the clamping mechanism, and the relative displacement between the stop platform and the clamping mechanism during instantaneous motion can be effectively prevented, so that the displacement is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
an inchworm stick-slip hybrid drive type piezoelectric linear driver and an installation process thereof comprise a fixed platform, a movable platform and crossed ball guide rails, wherein the crossed ball guide rails are respectively connected with the fixed platform and the movable platform, a drive mechanism is fixed at the upper part of the fixed platform, and the side surface of the drive mechanism is connected with a clamping mechanism;
the driving mechanism comprises a fixed block, the fixed block is fixed on the upper part of the fixed platform, two sides of the side surface of the driving mechanism in the vertical direction are respectively hinged with a first movable sheet, a first piezoelectric stack is arranged between the two first movable sheets, the other side of each first movable sheet is hinged with a second movable sheet, the other end of the second movable sheet is hinged with a connecting block together, the clamping mechanism comprises a supporting rib, the other end of the connecting block is connected with a supporting rib and is integrally formed with the supporting rib, the two sides of one side of the supporting rib, which is far away from the driving mechanism, in the vertical direction are respectively hinged with a third movable sheet, a second piezoelectric stack is arranged between the two third movable sheets, one side downwardly extending that moves the platform and be close to fixed platform is equipped with two spacing muscle of second, the third movable plate is close to spacing muscle one side of second and is equipped with the friction disc, the friction disc with move platform butt or separation.
One end of the first piezoelectric stack is abutted to one of the first movable pieces, the other end of the first piezoelectric stack is abutted to the first pre-tightening cushion block, one end, far away from the first piezoelectric stack, of the first pre-tightening cushion block is abutted to the other first movable piece, and the first movable piece, the first piezoelectric stack and the first pre-tightening cushion block are connected through a first pre-tightening screw.
One end of the second piezoelectric stack is abutted to one of the third movable pieces, the other end of the second piezoelectric stack is abutted to the second pre-tightening cushion block, one end, far away from the second piezoelectric stack, of the second pre-tightening cushion block is abutted to the other third movable piece, and the third movable piece, the second piezoelectric stack and the second pre-tightening cushion block are connected through a second pre-tightening screw.
And a third limiting rib extends inwards in the third movable sheet, and the second piezoelectric stack is limited by the third limiting rib.
The fixing block is provided with a countersunk hole penetrating through the upper surface and the lower surface of the fixing block, the bolt penetrates through the countersunk hole and is screwed into the fixing hole, and the top of the bolt is flush with the upper surface of the fixing block.
The vertical upwards extension in fixed platform both sides is equipped with first spacing muscle, first spacing muscle is parallel with the spacing muscle of second, alternately ball guide both sides respectively the first spacing muscle inboard of butt and the second spacing muscle outside, first piezoelectric stack is parallel with the second piezoelectric stack and the spacing muscle of perpendicular to second, the connecting block is located in the middle of the brace rod side.
And an anti-slip part is arranged on one side, close to the second limiting rib, of the friction plate and is abutted against the inner side of the second limiting rib.
The third movable plate is connected with the friction plate through an adjusting screw.
Adjusting screw and third movable plate threaded connection, adjusting screw wears out the one end adhesion friction disc of third movable plate, revolves soon adjusting screw, the friction disc is close to or keeps away from the spacing muscle of second.
The method comprises the following steps:
a. assembling a driving mechanism: the first piezoelectric stack and the first pre-tightening cushion block are arranged in the driving mechanism and are fixed with the first movable sheet through a first pre-tightening screw;
b. assembling a clamping mechanism: a second piezoelectric stack and a second pre-tightening cushion block are arranged in a clamping mechanism, the second piezoelectric stack is fixed with a third movable plate through a second pre-tightening screw and limited through a third limiting rib, an adjusting screw is screwed in and penetrates out of the inner side thread of the third movable plate, and one end of the adjusting screw penetrating out of the third movable plate is adhered to a friction plate through glue;
c. assembling a fixed platform: mounting the assembled driving mechanism and the clamping mechanism on a fixed platform, specifically, aligning a counter bore in the driving mechanism with a fixing hole, and fixing the driving mechanism on the fixed platform through an inner hexagon bolt so that the first piezoelectric stack and the second piezoelectric stack are perpendicular to the second limiting rib; the outer guide rail of the crossed ball guide rail is abutted against the inner side of the first limiting rib, and the outer guide rail is fixed on two sides of the fixed platform through a plurality of screws;
d. installing a movable platform: adjusting an adjusting screw to enable the friction plate to abut against or approach a third movable plate, wherein the width of a second limiting rib is smaller than the distance between the friction plate and the crossed ball guide rail, the second limiting rib of the movable platform faces the fixed platform and is arranged in parallel with the first limiting rib, the outer side of the second limiting rib is tightly attached to the inner guide rail of the crossed ball guide rail, and the movable platform and the crossed ball guide rail are fixed through the screw to enable the movable platform to move through the crossed ball guide rail;
e. the friction disc is adjusted to place the fixed platform upwards, so that the square hollow part in the middle of the fixed platform faces upwards, the friction disc is adjusted to a proper position by adjusting the adjusting screw at the square hollow part of the fixed platform, and the installation is completed.
The invention has the beneficial effects that:
1. the invention realizes the linear motion of the movable platform by arranging a driving mechanism and a clamping mechanism, when a second piezoelectric stack is electrified and elongated, a friction plate is abutted against the inner side of a second limiting rib so that the movable platform is clamped, at the moment, the first piezoelectric stack is electrified and elongated, a first movable plate moves to a position close to the second limiting rib, a second movable plate moves to a position close to the first piezoelectric stack through a flexible hinge, the clamping mechanism is pulled to move leftwards, so as to drive the movable platform to move leftwards, at the moment, the second piezoelectric stack retracts when power is off, the friction plate is separated from the second limiting rib, and finally, the first piezoelectric stack retracts when power is off to drive the clamping mechanism to move rightwards, at the moment, the clamping mechanism is separated from the movable platform, so that the phenomenon of displacement retraction of the movable platform is effectively prevented, the driving mechanism utilizes the principle of triangular amplification, the operation is convenient;
2. the driving mechanism is fixedly arranged on the fixed platform through a screw, and the driving mechanism and the clamping mechanism are integrally formed, so that the mounting is convenient, the assembly error is reduced, and the operation precision is improved;
3. the distance between the friction plate and the second limiting rib can be adjusted through the adjusting screw, the clamping force of the clamping mechanism on the movable platform can be increased or decreased according to the load of the movable platform, meanwhile, the plane of the second limiting rib, which is located on one side of the friction plate, is of a rhombic grid structure, the contact part of the friction plate and the second limiting rib is provided with an anti-slip part, the anti-slip part is also of a rhombic grid structure, the friction force between the movable platform and the friction plate can be increased, and the relative displacement between the movable platform and the clamping mechanism during instantaneous movement can be effectively prevented, so that the displacement is reduced;
4. the inchworm type driver has the advantages of large driving force and simple structure, can effectively inhibit the displacement backspacing of the brake platform while outputting larger driving force, and has wide prospect in the field of precision driving.
Drawings
FIG. 1 is a schematic diagram of a first perspective of the present invention;
FIG. 2 is a schematic diagram of a second perspective of the present invention;
FIG. 3 is a schematic view of the internal structure of the present invention;
FIG. 4 is an exploded view of the present invention;
FIG. 5 is a timing diagram of the present invention.
In the figure: the device comprises a fixed platform 1, a first limiting rib 101, a fixed hole 102, a movable platform 2, a second limiting rib 201, a driving mechanism 3, a fixed block 301, a first movable sheet 302, a second movable sheet 303, a connecting block 304, a first piezoelectric stack 305, a first pre-tightening cushion block 306, a first pre-tightening screw 307, a counter sink 308, a driving mechanism 4, a support rib 401, a third movable sheet 402, a third limiting rib 403, a second piezoelectric stack 404, a second pre-tightening cushion block 405, a second pre-tightening screw 406, a friction plate 407, an adjusting screw 408, an anti-skid part 409, a bolt 5 and a crossed ball guide rail 6.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description below:
in the description of the present specification, the terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or unit must have a specific direction, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in figure 1, an inchworm stick-slip hybrid drive type piezoelectric linear actuator and an installation process thereof comprise a fixed platform 1, a movable platform 2 and a crossed ball guide rail 6, wherein the crossed ball guide rail 6 is respectively connected with the fixed platform 1 and the movable platform 2, specifically, two sides of the fixed platform 1 are vertically and upwardly extended and provided with first limiting ribs 101, one side of the movable platform 2, which is close to the fixed platform 1, is downwardly extended and provided with two second limiting ribs 201, the first limiting ribs 101 are parallel to the second limiting ribs 201, two sides of the crossed ball guide rail 6 are respectively abutted against the inner side of the first limiting ribs 101 and the outer side of the second limiting ribs 201, wherein a guide rail of the crossed ball guide rail 6, which is close to one side of the first limiting ribs 101, is fixed on the upper part of the fixed platform 1 through a plurality of screws, a guide rail of one side, which is close to the second limiting ribs 201, is fixed on the lower part of the movable platform 2 through a plurality of screws, and friction resistance in the motion process, is beneficial to the movement of the movable platform.
As shown in fig. 2 to 4, a driving mechanism 3 is fixed on the upper portion of the fixed platform 1, a clamping mechanism 4 is connected to a side surface of the driving mechanism 3, the driving mechanism 3 includes a fixed block 301, the fixed block 301 is fixed on the upper portion of the fixed platform 1, and specifically, the driving mechanism further includes a bolt 5, a fixing hole 102 which is recessed downward is formed on the upper surface of the fixed platform 1, the fixed block 301 is provided with a counter bore 308 which penetrates through the upper and lower surfaces of the fixed block 301, the bolt 5 passes through the counter bore 308 and is screwed into the fixing hole 102, the top of the bolt 5 is flush with the upper surface of the fixed block 301, wherein the number of the counter bores 308 is two and is symmetrical along the middle of the fixed block 301, and the driving mechanism is fixed by two bolts 5, the driving mechanism is more firmly fixed on the fixed platform 1, and the bolt 5 is flush with the upper surface of the fixed block 301, which is not only, the structure between the movable platform 2 and the fixed platform 1 is more compact, and the space waste is reduced.
Two sides of the side surface of the driving mechanism 3 in the vertical direction are respectively hinged with a first movable plate 302, a first piezoelectric stack 305 is arranged between the two first movable plates 302, the other side of each first movable plate 302 is hinged with a second movable plate 303, the other end of each second movable plate 303 is hinged with a connecting block 304, wherein the hinges of the invention are flexible hinges, a triangular amplifying mechanism is formed by a fixed block 301, the first movable plates 302, the second movable plates 303 and the connecting block 304 to realize displacement amplification, the first piezoelectric stack 305 is positioned in the triangular amplifying mechanism, one end of the first piezoelectric stack 305 is abutted against one of the first movable plates 302, the other end of the first piezoelectric stack 305 is abutted against a first pre-tightening cushion block 306, one end of the first pre-tightening cushion block 306 far away from the first piezoelectric stack 305 is abutted against the other first movable plate 302, and the first movable plates 302, the first piezoelectric stack 305 and the first pre-tightening cushion block 306 are connected through a first screw 307, the first pre-tightening cushion block 306 is located between the first piezoelectric stack 305 and the first pre-tightening screw 307, and can prevent the first piezoelectric stack 305 from being damaged by the torque transmitted by the first pre-tightening screw 307 when being pre-tightened by the first pre-tightening screw 307;
the clamping mechanism 4 comprises a supporting rib 401, the other end of the connecting block 304 is connected with the supporting rib 401 and integrally formed with the supporting rib 401, two sides of one side of the supporting rib 401, which is far away from the driving mechanism 3, in the vertical direction are respectively hinged with a third movable plate 402, a second piezoelectric stack 404 is installed between the two third movable plates 402, specifically, one end of the second piezoelectric stack 404 is abutted against one of the third movable plates 402, the other end of the second piezoelectric stack 404 is abutted against a second pre-tightening cushion block 405, one end of the second pre-tightening cushion block 405, which is far away from the second piezoelectric stack 404, is abutted against the other third movable plate 402, the second piezoelectric stack 404 and the second pre-tightening cushion block 405 are connected through a second pre-tightening screw 406, the driving mechanism 3 is installed and fixed on the fixed platform 1 through a bolt 5, the driving mechanism 3 and the clamping mechanism 4 are integrally formed, so, the running precision is improved.
Wherein, the friction plate 407 is arranged on one side of the third movable plate 402 close to the second limiting rib 201, the friction plate 407 is abutted to or separated from the movable platform 2, specifically, the third movable plate 402 is connected with the friction plate 407 through an adjusting screw 408, one side of the friction plate 407 close to the second limiting rib 201 is provided with an anti-slip part 409, the anti-slip part 409 is abutted to the inner side of the second limiting rib 201, the adjusting screw 408 is in threaded connection with the third movable plate 402, one end of the adjusting screw 408 penetrating out of the third movable plate 402 is adhered to the friction plate 407, the adjusting screw 408 is screwed, the friction plate 407 is close to or far away from the second limiting rib 201, the distance between the friction plate 407 and the second limiting rib 201 can be adjusted through the adjusting screw 408, the clamping force of the clamping mechanism 4 on the movable platform 2 can be increased or reduced according to the load of the movable platform 2, the practicability is greatly improved, and the plane of the second limiting rib 201 on one side of the friction plate 407, the contact part of the friction plate 407 and the second limiting rib 201 is provided with an anti-slip part 409, the anti-slip part 409 is also in a rhombic grid shape, so that the increase of the friction force between the movable platform 2 and the friction plate 407 is facilitated, and the relative displacement between the movable platform 2 and the clamping mechanism 4 during the instant motion can be effectively prevented, so that the displacement is reduced.
As shown in fig. 3 to 5, "V" is a voltage, "T" is a time, "T" is a period of the operation of the present invention, "PZT 1" is the first piezoelectric stack 305, "PZT 2" is the second piezoelectric stack 404, and the control timing is as follows:
1. electrifying the PZT2 in a time period of 0-t2, electrifying the PZT2 to extend (the extension amount reaches the maximum value at the time of t 1), enabling the friction plate 407 of the clamping mechanism 4 to abut against and press the second limiting rib 201, and clamping the movable platform 2;
the PZT2 is electrified all the time, slowly rising voltage is applied to the PZT1 in a time period from t2 to t4, the PZT1 is electrified and slowly extends to drive the clamping mechanism 4 to move leftwards, and the clamping mechanism 4 drives the movable platform 2 to move leftwards;
3. after the platform 2 moves stably, slowly-reduced voltage is applied to the PZT2 in a time period from t4 to t5, the PZT2 retracts slowly and returns to the original length at the time of t5, and the friction plate 407 is separated from the second limiting rib 201;
4. at the time of t6, the power of the PZT1 is cut off, the voltage applied to the PZT1 rapidly drops, the PZT1 retracts to the original length, at the moment, the driving mechanism 3 drives the clamping mechanism 4 to move rightwards to recover to the original position, at the moment, the position of the movable platform 2 is kept unchanged due to inertia, and the friction plate 407 and the second limiting rib 201 are separated, so that the movable platform 2 cannot be influenced when the clamping mechanism 4 moves rightwards, and the displacement retraction phenomenon cannot be generated;
5. the steps 1-4 are taken as a period T, and when the next period is continued after the period is finished, the movable platform 2 can continuously output the displacement.
The invention realizes the linear motion of the movable platform 2 by arranging a driving mechanism 4 and a clamping mechanism 3, when a second piezoelectric stack 404 is electrified and extended, a friction plate 407 is abutted against the inner side of a second limiting rib 201 to clamp the movable platform 2, at the moment, the first piezoelectric stack 305 is electrified and extended, a first movable plate 302 moves close to the second limiting rib 201, a second movable plate 303 moves close to the first piezoelectric stack 305 through a flexible hinge, the clamping mechanism 4 is pulled to move leftwards, so that the movable platform 2 is driven to move leftwards, at the moment, the second piezoelectric stack 404 is powered off and retracted, the friction plate 407 is separated from the second limiting rib 201, at last, the first piezoelectric stack 305 is powered off and retracted to drive the clamping mechanism 3 to move rightwards, at the moment, the clamping mechanism 4 is separated from the movable platform 2, so that the phenomenon of displacement retraction of the movable platform 2 is effectively prevented, the driving mechanism 3 utilizes the principle of triangular amplification to increase, improve the driving force, simple structure, convenient operation.
Preferably, the third movable plate 402 is provided with third limiting ribs 403 extending inward, the second piezoelectric stack 404 is limited by the third limiting ribs 403, specifically, two third limiting ribs 403 are provided on the inner side of each third movable plate 402, two sides of the second piezoelectric stack 404 are respectively abutted against the inner sides of the third limiting ribs 403, and the third limiting ribs 403 limit the position of the second piezoelectric stack 404, so that the second piezoelectric stack 404 is effectively prevented from deviating in the extension or retraction process, and the displacement precision is ensured.
Preferably, the first piezoelectric stack 305 and the second piezoelectric stack 404 are parallel and perpendicular to the second limiting rib 201, and the connecting block 304 is located in the middle of the side surface of the support rib 401, so that the displacement is more accurate.
The inchworm type driver has the advantages of simple and reasonable structure, large driving force and simple structure, can effectively inhibit the displacement backspacing of the movable platform 2 while outputting larger driving force, and has wide prospect in the field of precise driving.
As shown in fig. 1 to 4, the mounting process of the present invention is:
a. assembling the driving mechanism 3: a first piezoelectric stack 305 and a first pre-tightening cushion block 306 are arranged in the driving mechanism 3 and fixed with the first movable plate 302 through a first pre-tightening screw 307;
b. assembling the clamping mechanism 4: a second piezoelectric stack 404 and a second pre-tightening cushion block 405 are arranged in the clamping mechanism 4, the second piezoelectric stack 404 is fixed with the third movable plate 402 through a second pre-tightening screw 406, the second piezoelectric stack 404 is limited through a third limiting rib 403, an adjusting screw 408 is screwed in and penetrates out of the inner side of the third movable plate 402 through threads, and one end of the adjusting screw, which penetrates out of the third movable plate 402, is adhered to the friction plate 407 through glue;
c. assembling the fixed platform 1: mounting the assembled driving mechanism 3 and the clamping mechanism 4 on the fixed platform 1, specifically, aligning a counter bore 308 in the driving mechanism 3 with the fixing hole 102, and fixing the driving mechanism 3 on the fixed platform 1 through the hexagon socket head cap screw 5, so that the first piezoelectric stack 305 and the second piezoelectric stack 404 are perpendicular to the second limiting rib 201; the outer guide rail of the crossed ball guide rail 6 is abutted against the inner side of the first limiting rib 101, and the outer guide rail is fixed on two sides of the fixed platform 1 through a plurality of screws;
d. mounting the movable platform 2, namely enabling the friction plate 407 to abut against or approach the third movable plate 402 by adjusting an adjusting screw 408, wherein the width of the second limiting rib 201 is smaller than the distance between the friction plate 407 and the crossed ball guide rail 6, the second limiting rib 201 of the movable platform 2 faces the fixed platform 1 and is arranged in parallel with the first limiting rib 101, the outer side of the second limiting rib 201 is tightly attached to the inner guide rail of the crossed ball guide rail 6, and the movable platform 2 and the crossed ball guide rail 6 are fixed through screws, so that the movable platform 2 can move through the crossed ball guide rail 6;
e. and adjusting the friction plate 407, namely, placing the fixed platform 1 upwards to enable the square hollow part in the middle of the fixed platform 1 to be upwards, adjusting the adjusting screw 408 by utilizing the square hollow part of the fixed platform 1, adjusting the friction plate 407 to a proper position, and finishing installation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides an inchworm stick-slip hybrid drive formula piezoelectricity linear actuator, includes and decides platform (1), moves platform (2) and cross ball guide (6), cross ball guide (6) are connected respectively and are decided platform (1) and move platform (2), its characterized in that: a driving mechanism (3) is fixed on the upper part of the fixed platform (1), and the side surface of the driving mechanism (3) is connected with a clamping mechanism (4);
the driving mechanism (3) comprises a fixed block (301), the fixed block (301) is fixed on the upper portion of the fixed platform (1), two sides of the vertical direction of the side face of the driving mechanism (3) are respectively hinged with a first movable sheet (302), a first piezoelectric stack (305) is installed between the first movable sheets (302), each other side of each first movable sheet (302) is hinged with a second movable sheet (303), the other end of each second movable sheet (303) is hinged with a connecting block (304) together, the clamping mechanism (4) comprises a supporting rib (401), the other end of each connecting block (304) is connected with the supporting rib (401) and is integrally formed with the supporting rib (401), two sides of one side of the supporting rib (401), which is far away from the driving mechanism (3), in the vertical direction are respectively hinged with third movable sheets (402), and a second piezoelectric stack (404) is installed between the third movable sheets (402), move one side downwardly extending that platform (2) are close to fixed platform (1) and be equipped with two spacing muscle of second (201), third movable plate (402) are close to spacing muscle of second (201) one side and are equipped with friction disc (407), friction disc (407) with move platform (2) butt or separation.
2. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 1, wherein: one end of the first piezoelectric stack (305) is abutted against one of the first movable plates (302) and the other end of the first piezoelectric stack (305) is abutted against the first pre-tightening cushion block (306), one end, far away from the first piezoelectric stack (305), of the first pre-tightening cushion block (306) is abutted against the other first movable plate (302), and the first movable plate (302), the first piezoelectric stack (305) and the first pre-tightening cushion block (306) are connected through a first pre-tightening screw (307).
3. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 1, wherein: one end of the second piezoelectric stack (404) is abutted against one of the third movable plates (402) and the other end of the second piezoelectric stack (404) is abutted against the second pre-tightening cushion block (405), one end, far away from the second piezoelectric stack (404), of the second pre-tightening cushion block (405) is abutted against the other third movable plate (402), and the third movable plate (402), the second piezoelectric stack (404) and the second pre-tightening cushion block (405) are connected through a second pre-tightening screw (406).
4. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 1, wherein: the inner side of the third movable sheet (402) extends inwards to form a third limiting rib (403), and the second piezoelectric stack (404) is limited by the third limiting rib (403).
5. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 1, wherein: the fixing device is characterized by further comprising a bolt (5), a fixing hole (102) which is recessed downwards is formed in the upper surface of the fixed platform (1), a counter bore (308) which penetrates through the upper surface and the lower surface of the fixing block (301) is formed in the fixing block (301), the bolt (5) penetrates through the counter bore (308) and is screwed into the fixing hole (102) in a threaded mode, and the top of the bolt (5) is flush with the upper surface of the fixing block (301).
6. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 1, wherein: decide the vertical upwards extension in platform (1) both sides and be equipped with first spacing muscle (101), first spacing muscle (101) are parallel with second spacing muscle (201), alternately ball guide (6) both sides are the inboard and the second spacing muscle (201) outside of first spacing muscle (101) of butt respectively, first piezoelectric stack (305) are parallel and perpendicular to second spacing muscle (201) with second piezoelectric stack (404), connecting block (304) are located in the middle of brace rod (401) side.
7. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 6, wherein: and an anti-slip part (409) is arranged on one side, close to the second limiting rib (201), of the friction plate (407), and the anti-slip part (409) is abutted to the inner side of the second limiting rib (201).
8. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 6, wherein: the third movable plate (402) is connected with the friction plate (407) through an adjusting screw (408).
9. The inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in claim 8, wherein: the adjusting screw (408) is in threaded connection with the third movable plate (402), one end, penetrating out of the third movable plate (402), of the adjusting screw (408) is adhered to the friction plate (407), the adjusting screw (408) is screwed, and the friction plate (407) is close to or far away from the second limiting rib (201).
10. A process for installing the inchworm stick-slip hybrid-driven piezoelectric linear actuator as claimed in any one of claims 1 to 9, wherein: the method comprises the following steps:
a. assembly drive mechanism (3): a first piezoelectric stack (305) and a first pre-tightening cushion block (306) are arranged in a driving mechanism (3) and are fixed with a first movable sheet (302) through a first pre-tightening screw (307);
b. assembling clamping mechanism (4): a second piezoelectric stack (404) and a second pre-tightening cushion block (405) are arranged in a clamping mechanism (4), the second piezoelectric stack (404) is fixed with a third movable plate (402) through a second pre-tightening screw (406) and limited through a third limiting rib (403), an adjusting screw (408) is screwed in and penetrates out of the inner side thread of the third movable plate (402), and one end of the adjusting screw, which penetrates out of the third movable plate (402), is adhered to a friction plate (407) through glue;
c. assembling fixed platform (1): mounting the assembled driving mechanism (3) and the clamping mechanism (4) on the fixed platform (1), specifically, aligning a counter bore (308) in the driving mechanism (3) with the fixing hole (102), and fixing the driving mechanism (3) on the fixed platform (1) through an inner hexagonal bolt (5), so that the first piezoelectric stack (305) and the second piezoelectric stack (404) are perpendicular to the second limiting rib (201); the outer guide rail of the crossed ball guide rail (6) is abutted against the inner side of the first limiting rib (101), and the outer guide rail is fixed on two sides of the fixed platform (1) through a plurality of screws;
d. installing the movable platform (2): adjusting an adjusting screw (408) to enable the friction plate (407) to abut against or approach a third movable plate (402), wherein the width of a second limiting rib (201) is smaller than the distance between the friction plate (407) and a crossed ball guide rail (6), the second limiting rib (201) of the movable platform (2) faces the fixed platform (1) and is arranged in parallel with the first limiting rib (101), the outer side of the second limiting rib (201) is tightly attached to an inner guide rail of the crossed ball guide rail (6), and the movable platform (2) and the crossed ball guide rail (6) are fixed through screws, so that the movable platform (2) can move through the crossed ball guide rail (6);
e. the friction plate (407) is adjusted to be placed upwards on the fixed platform (1), the middle square hollow part of the fixed platform (1) is upwards, the friction plate (407) is adjusted to a proper position by adjusting the adjusting screw (408) at the square hollow part of the fixed platform (1), and installation is completed.
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