CN114421806A - Precise two-dimensional image stabilizing device based on piezoelectric stack - Google Patents
Precise two-dimensional image stabilizing device based on piezoelectric stack Download PDFInfo
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Abstract
The invention discloses a precise two-dimensional image stabilizing device based on a piezoelectric stack, which comprises the piezoelectric stack, a piezoelectric stack pre-tightening module, a piezoelectric stack displacement amplification module, a lens mounting rack, a displacement guide mechanism and a fixed frame, wherein the piezoelectric stack pre-tightening module is arranged on the piezoelectric stack; the piezoelectric stack pre-tightening module is positioned at the opposite angle of the fixed frame and used for pre-tightening the piezoelectric stack; the displacement amplification module is fixedly connected with the pre-tightening module, is positioned on two adjacent sides of the fixed frame and comprises a three-stage displacement amplification mechanism; the lens mounting rack is connected with the third-stage displacement amplification mechanism through a flexible hinge and is connected with the fixed frame through a displacement guide mechanism. The invention amplifies the displacement generated after the piezoelectric stack is electrified by the piezoelectric stack displacement amplification modules which are connected in parallel in the X and Y directions, and realizes the displacement of the lens mounting frame in the X and Y directions under the displacement guide effect of the displacement guide mechanism, thereby compensating the shake generated by the lens in the dynamic shooting to solve the imaging blur problem.
Description
Technical Field
The invention belongs to the technical field of precision optics, and particularly relates to a precision two-dimensional image stabilizing device.
Background
Because the imaging equipment can vibrate and interfere with the outside world in the using process, relatively tiny displacement is generated between a shooting target and the equipment, the definition and the identifiability of an image are reduced, and the imaging quality of the equipment is reduced. Therefore, a precise optical image stabilizer is needed to perform displacement compensation on the imaging device, so that the definition and the recognizability of the image are improved, and the purpose of stable imaging is achieved.
Image stabilization techniques can be divided into mechanical image stabilization, electronic image stabilization and optical image stabilization according to the image stabilization principle. The mechanical image stabilization adopts a sensor to detect small displacement caused by equipment vibration, and a servo control system controls a driving device to compensate the displacement, so that the purpose of image stabilization is achieved. The existing mechanical image stabilization technology is mostly driven by a servo motor, and the mechanical image stabilization technology is large in size, high in cost and not suitable for small-sized imaging equipment. The electronic image stabilization adopts an image algorithm to stabilize the obtained image sequence, and the pixel offset vectors of the images are analyzed and calculated to synthesize a new image, wherein the imaging quality of the new image is limited by the image algorithm. The optical image stabilization adopts a driving compensation mechanism to compensate the optical axis deviation generated between the imaging device and a shooting target, and reduces the influence of external interference on image quality so as to realize image stabilization. The piezoelectric material is used as an intelligent material, can generate mechanical strain when being acted by an external electric field, has the advantages of short response time, high precision and strong load capacity, and can be suitable for precise driving directions. When a plurality of piezoelectric ceramic sheets are stacked together to form the piezoelectric stack, the total strain generated when the piezoelectric stack is subjected to an external electric field is equal to the sum of the strains of the single piezoelectric ceramic sheets, and the load capacity is enhanced.
The invention patent CN 105071690B discloses a piezoelectric linear actuation two-dimensional image stabilization platform, which adopts a parallel connection of series units of a regular triangle amplifying mechanism and an inverted triangle amplifying mechanism, and the structure of the platform lacks a displacement guide mechanism, so that displacement coupling can be generated when displacement output is performed simultaneously in the X direction and the Y direction, and the platform can be interfered by a structure in the other direction during unidirectional actuation, thereby causing deflection in the displacement direction. Meanwhile, certain pretightening force needs to be applied to the piezoelectric stack when the piezoelectric stack is used, the piezoelectric stack is pretightened only by the aid of the cushion block and the external steel frame, the pretightening effect is low, and structural abrasion is easily caused.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a precise two-dimensional image stabilizing device based on a piezoelectric stack, which comprises the piezoelectric stack, a piezoelectric stack pre-tightening module, a piezoelectric stack displacement amplification module, a lens mounting rack, a displacement guide mechanism and a fixed frame, wherein the piezoelectric stack pre-tightening module is arranged on the piezoelectric stack; the piezoelectric stack pre-tightening module is positioned at the opposite angle of the fixed frame and used for pre-tightening the piezoelectric stack; the displacement amplification module is fixedly connected with the pre-tightening module, is positioned on two adjacent sides of the fixed frame and comprises a three-stage displacement amplification mechanism; the lens mounting rack is connected with the third-stage displacement amplification mechanism through a flexible hinge and is connected with the fixed frame through a displacement guide mechanism. The invention amplifies the displacement generated after the piezoelectric stack is electrified by the piezoelectric stack displacement amplification modules which are connected in parallel in the X and Y directions, and realizes the displacement of the lens mounting frame in the X and Y directions under the displacement guide effect of the displacement guide mechanism, thereby compensating the shake generated by the lens in the dynamic shooting to solve the imaging blur problem.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a precise two-dimensional image stabilizing device based on a piezoelectric stack comprises a fixed frame, a piezoelectric stack pre-tightening module, the piezoelectric stack, a piezoelectric stack displacement amplification module, a lens mounting frame and a displacement guide mechanism; the fixed frame is of a square frame structure; the piezoelectric stack pre-tightening module, the piezoelectric stack and the piezoelectric stack displacement amplification module all comprise two identical parts which take a diagonal line of the fixed frame as a symmetry axis and are respectively called a vertical part and a horizontal part;
the structure of the vertical part is as follows:
the piezoelectric stack pre-tightening module comprises a pre-tightening frame, a pre-tightening bolt, a first pre-tightening guide block bolt, a pre-tightening spring, a second pre-tightening guide block and a second pre-tightening guide block bolt;
the first pre-tightening guide block is divided into a front piece and a rear piece which are the same, each piece comprises two supporting beams, and the upper part of each piece is provided with a first threaded hole; the first pre-tightening guide block bolt penetrates through the first threaded hole to connect the front and rear pieces of the first pre-tightening guide block together; a front threaded hole and a rear threaded hole are connected together, then a first circular groove is formed on the upper surface and the lower surface of the top of the first pre-tightening guide block respectively, and a first guide groove is formed between two support beams on two side surfaces of the first pre-tightening guide block respectively;
the second pre-tightening guide block is divided into a front piece and a rear piece which are the same, and each piece is provided with a second threaded hole; the second pre-tightening guide block bolt penetrates through the second threaded hole to connect the front and rear sheets of the second pre-tightening guide block together; a second round groove is formed on the upper surface of the second pre-tightening guide block after the front and the rear pre-tightening guide blocks are connected together, a rectangular groove is formed on the lower surface of the second pre-tightening guide block, and a second guide groove is formed on each of two sides of the second pre-tightening guide block;
the pre-tightening frame is square, and the top and the adjacent side frames are integrated with the fixed frame; two side frames of the pre-tightening frame are clamped into the first guide groove and the second guide groove from top to bottom to play a role in displacement guide; the pre-tightening bolt penetrates through a pre-tightening threaded hole in the top of the pre-tightening frame and then is matched with a first circular groove in the upper surface of the top of the first pre-tightening guide block; the upper end of the pre-tightening spring is matched with a first circular groove on the lower surface of the top of the first pre-tightening guide block, and the lower end of the pre-tightening spring is matched with a second circular groove of the second pre-tightening guide block; the upper end of the piezoelectric stack is matched with the rectangular groove of the second pre-tightening guide block, and the lower end of the piezoelectric stack is matched with the piezoelectric stack rectangular groove on the inner surface of the bottom of the pre-tightening frame;
in an initial state, rotating the pre-tightening bolt to apply pressure to the first pre-tightening guide block, compressing the pre-tightening spring at the same time, and transmitting the pressure to the piezoelectric stack through the second pre-tightening guide block; when the pre-tightening spring reaches a preset compression amount, the tail end of the supporting beam contacts the second pre-tightening guide block, the pre-tightening force reaches a preset value, and the pre-tightening bolt stops rotating to complete pre-tightening on the piezoelectric stack;
the piezoelectric stack displacement amplification module comprises a first-stage displacement amplification mechanism, a second-stage displacement amplification mechanism and a third-stage displacement amplification mechanism;
the first-stage displacement amplification mechanism is of a triangular amplification structure and is respectively connected with the bottom of the pre-tightening frame, the side edge of the fixed frame and the second-stage displacement amplification mechanism through first-stage flexible hinges arranged at different positions; the second-stage displacement amplification mechanism is a lever amplification structure and is respectively connected with the side edge of the fixed frame and the third-stage displacement amplification mechanism through second-stage flexible hinges arranged at different positions; the third-stage displacement amplification mechanism is of a lever amplification structure, the upper end of the third-stage displacement amplification mechanism is connected with the pre-tightening frame through a third-stage flexible hinge, and the lower end of the third-stage displacement amplification mechanism is connected with the middle of the left side edge of the lens mounting frame through a third-stage flexible hinge;
the horizontal part is symmetrical to the vertical part, and a third-stage displacement amplification mechanism of the horizontal part is connected with the middle part of the lower side edge of the lens mounting frame through a third-stage flexible hinge;
the lens mounting frame is square and is positioned in the center of the fixed frame; the right side and the upper side of the lens mounting rack are connected with the fixed frame through flexible hinges on the displacement guide mechanism; the center of the lens mounting frame is provided with a circular through hole for mounting the lens.
Preferably, a quasi-parallelogram amplifying structure is formed between the third-stage displacement amplifying mechanism and the displacement guide mechanism, and the quasi-parallelogram amplifying structure guides the displacement direction while transmitting force and displacement, so that the deflection of the displacement direction is prevented.
Preferably, the fixed frame, the pre-tightening frame, the piezoelectric stack displacement amplification module, the lens mounting frame and the displacement guide mechanism are all made of 65Mn spring steel materials and are formed by one-step machining through a high-precision linear cutting process.
Preferably, the piezoelectric stack is in a cuboid shape, a PZT-5H material is adopted, the surface of the piezoelectric stack is packaged by epoxy resin, and the polarization direction is the same as the mounting direction.
Preferably, the thickness of the fixed frame is greater than the thickness of the rest part of the precise two-dimensional image stabilization device, and when the precise two-dimensional image stabilization device is horizontally placed, the piezoelectric stack pre-tightening module, the piezoelectric stack displacement amplification module, the lens mounting frame and the displacement guide mechanism are guaranteed not to be affected by redundant contact surface friction force.
Preferably, the pre-tightening frame is not provided with a chamfer angle at an included angle formed by the pre-tightening frame and the two side frames of the fixed frame, so that the structural strength of the pre-tightening frame can be increased.
Preferably, the length of the support beam is smaller than the free length of the pre-tightening spring, and after the support beam is matched with the second pre-tightening guide block, the pre-tightening spring is ensured to reach a preset compression amount, and meanwhile, the piezoelectric stack is prevented from releasing force towards the direction of the pre-tightening spring when being electrified.
Preferably, the first-stage flexible hinge is a circular flexible hinge, the second-stage flexible hinge and the third-stage flexible hinge are right-angle flexible hinges, and the flexible hinges are used for deflecting after being stressed, so that the transmission of force and displacement on the structure is realized.
The invention has the following beneficial effects:
the invention relates to a precise two-dimensional image stabilizing device based on a piezoelectric stack.A piezoelectric stack pre-tightening module can provide controllable required pre-tightening force for the piezoelectric stack; the displacement generated after the piezoelectric stack is electrified can be multiplied by a piezoelectric stack displacement amplification module, so that micron-grade displacement output is realized; the flexible hinge can output force and amplified displacement to the lens mounting frame, and the quasi-parallelogram amplifying mechanism formed between the third-stage displacement amplifying mechanism and the displacement guide mechanism can reduce the displacement output coupling in the X direction and the Y direction, so that the problem of mutual interference of the parallel mechanisms in different directions is solved, and the displacement of the lens mounting frame in a two-dimensional plane is realized.
Drawings
Fig. 1 is a structural top view of a precise two-dimensional image stabilization device based on a piezoelectric stack according to the present invention.
Fig. 2 is a structural side view of the precise two-dimensional image stabilization device based on the piezoelectric stack.
Fig. 3 is a schematic structural diagram of the pretensioning frame according to the present invention.
Fig. 4 is a schematic structural view of a first pretensioning guide block according to the present invention.
Fig. 5 is a schematic diagram of a reverse structure of the first pre-tightening guide block according to the present invention.
Fig. 6 is a schematic view of a second pretensioning guide block according to the present invention.
Fig. 7 is a schematic diagram of a reverse structure of the second pre-tightening guide block according to the present invention.
Fig. 8 is a schematic structural diagram of a piezoelectric stack displacement amplification module according to the present invention.
Fig. 9 is a schematic diagram of an enlarged quasi-parallelogram structure according to the present invention.
Fig. 10 is a schematic structural diagram of the lens mount according to the present invention.
In the figure: 1-pre-tightening the bolt; 2-a first pre-tightening guide block bolt; 3-a first pre-tightening guide block; 3-1 a first threaded hole; 3-2 a first circular groove; 3-3 a first guide groove; 3-4 supporting beams; 4-pre-tightening the spring; 5-a second pre-tightening guide block bolt; 6-a second pre-tightening guide block; 6-1 second threaded hole; 6-2 second circular grooves; 6-3 rectangular grooves; 6-4 second guide grooves; 7-piezoelectric stack; 8-pre-tightening the frame; 8-1 pre-tightening the threaded hole; 8-2 piezoelectric stack rectangular grooves; 8-3 chamfering; 9-a displacement guide mechanism; 10-third stage displacement amplification mechanism; 10-1 a third level flexible hinge; 11-a first stage displacement amplification mechanism; 11-1 a first stage flexible hinge; 12-a second stage displacement amplification mechanism; 12-1 a second stage flexible hinge; 13-a lens mount; 13-1 circular through hole; 14-fixing the frame.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Aiming at the defects in the prior art, the invention aims to provide a piezoelectric stack-based precise two-dimensional image stabilizing device, which can effectively solve the problems of precise driving and displacement coupling of parallel devices in the optical image stabilizing technology and realize displacement in different directions in a plane.
A precise two-dimensional image stabilizing device based on a piezoelectric stack comprises a fixed frame 14, a piezoelectric stack pre-tightening module, a piezoelectric stack 7, a piezoelectric stack displacement amplification module, a lens mounting frame 13 and a displacement guide mechanism 9; the fixed frame 14 is a square frame structure; the piezoelectric stack pre-tightening module, the piezoelectric stack 7 and the piezoelectric stack displacement amplification module all comprise two identical parts which take the diagonal line of the fixed frame 14 as a symmetry axis and are respectively called a vertical part and a horizontal part;
the structure of the vertical part is as follows:
the piezoelectric stack pre-tightening module comprises a pre-tightening frame 8, a pre-tightening bolt 1, a first pre-tightening guide block 3, a first pre-tightening guide block bolt 2, a pre-tightening spring 4, a second pre-tightening guide block 6 and a second pre-tightening guide block bolt 5;
the first pre-tightening guide block 3 is divided into a front piece and a rear piece which are the same, each piece comprises two support beams 3-4, and the upper part of each piece is provided with a first threaded hole 3-1; the first pre-tightening guide block bolt 2 penetrates through the first threaded hole 3-1 to connect the front and rear pieces of the first pre-tightening guide block 3 together; a front threaded hole 3-1 and a rear threaded hole 3-1 are connected together, then a first circular groove 3-2 is formed on the upper surface and the lower surface of the top of the first pre-tightening guide block 3 respectively, and a first guide groove 3-3 is formed between two support beams 3-4 on two side surfaces of the first pre-tightening guide block 3 respectively;
the second pre-tightening guide block 6 is divided into a front piece and a rear piece which are the same, and each piece is provided with a second threaded hole 6-1; the second pre-tightening guide block bolt 5 penetrates through the second threaded hole 6-1 to connect the front piece and the rear piece of the second pre-tightening guide block 6 together; a front and a rear two pieces of the second pre-tightening guide block 6 are connected together, then a second circular groove 6-2 is formed on the upper surface of the second pre-tightening guide block 6, a rectangular groove 6-3 is formed on the lower surface of the second pre-tightening guide block 6, and a second guide groove 6-4 is formed on each of two sides of the second pre-tightening guide block 6;
the pre-tightening frame 8 is square, and the top and the adjacent side frames are integrated with the fixed frame 14; two side frames of the pre-tightening frame 8 are clamped into the first guide groove 3-3 and the second guide groove 6-4 from top to bottom to play a role in displacement guide; the pre-tightening bolt 1 penetrates through a pre-tightening threaded hole 8-1 in the top of the pre-tightening frame 8 and then is matched with a first circular groove 3-2 in the upper surface of the top of the first pre-tightening guide block 3; the upper end of the pre-tightening spring 4 is matched with a first circular groove 3-2 on the lower surface of the top of the first pre-tightening guide block 3, and the lower end of the pre-tightening spring 4 is matched with a second circular groove 6-2 of the second pre-tightening guide block 6; the upper end of the piezoelectric stack 7 is matched with the rectangular groove 6-3 of the second pre-tightening guide block 6, and the lower end of the piezoelectric stack 7 is matched with the piezoelectric stack rectangular groove 8-2 on the inner surface of the bottom of the pre-tightening frame 8;
in an initial state, the pre-tightening bolt 1 is rotated to apply pressure to the first pre-tightening guide block 3, meanwhile, the pre-tightening spring 4 is compressed, and the pressure is transmitted to the piezoelectric stack 7 through the second pre-tightening guide block 6; when the pre-tightening spring 4 reaches a preset compression amount, the tail end of the support beam 3-4 contacts the second pre-tightening guide block 6, the pre-tightening force reaches a preset value, the pre-tightening bolt 1 stops rotating, and pre-tightening on the piezoelectric stack 7 is completed;
the piezoelectric stack displacement amplification module comprises a first-stage displacement amplification mechanism 11, a second-stage displacement amplification mechanism 12 and a third-stage displacement amplification mechanism 10;
the first-stage displacement amplification mechanism 11 is of a triangular amplification structure and is respectively connected with the bottom of the pre-tightening frame 8, the side edge of the fixed frame 14 and the second-stage displacement amplification mechanism 12 through first-stage flexible hinges 11-1 arranged at different positions; the second-stage displacement amplification mechanism 12 is of a lever amplification structure and is respectively connected with the side edge of the fixed frame 14 and the third-stage displacement amplification mechanism 10 through second-stage flexible hinges 12-1 arranged at different positions; the third-stage displacement amplification mechanism 10 is of a lever amplification structure, the upper end of the third-stage displacement amplification mechanism 10 is connected with the pre-tightening frame 8 through a third-stage flexible hinge 10-1, and the lower end of the third-stage displacement amplification mechanism 10 is connected with the middle of the left side edge of the lens mounting frame 13 through the third-stage flexible hinge 10-1;
the horizontal part is symmetrical to the vertical part, and a third-stage displacement amplification mechanism 10 of the horizontal part is connected with the middle of the lower side edge of a lens mounting frame 13 through a third-stage flexible hinge 10-1;
the lens mounting frame 13 is square and is positioned in the center of the fixed frame 14; the right side and the upper side of the lens mounting frame 13 are connected with a fixed frame 14 through a flexible hinge on the displacement guide mechanism 9; the center of the lens mounting frame 13 is provided with a circular through hole 13-1 for mounting a lens.
Preferably, a quasi-parallelogram amplifying structure is formed between the third-stage displacement amplifying mechanism 10 and the displacement guide mechanism 9, and the quasi-parallelogram amplifying structure guides the displacement direction while transmitting force and displacement, so that the displacement direction is prevented from deflecting.
Preferably, the fixed frame 14, the pre-tightening frame 8, the piezoelectric stack displacement amplification module, the lens mounting frame 13 and the displacement guide mechanism 9 are all made of 65Mn spring steel materials and are formed by one-step processing through a high-precision linear cutting process.
Preferably, the piezoelectric stack 7 is a cuboid, a PZT-5H material is used, the surface of the piezoelectric stack is encapsulated by epoxy resin, and the polarization direction is the same as the mounting direction.
Preferably, the thickness of the fixing frame 14 is greater than the thickness of the rest of the precise two-dimensional image stabilization device, so that when the precise two-dimensional image stabilization device is horizontally placed, the piezoelectric stack 7, the piezoelectric stack pre-tightening module, the piezoelectric stack displacement amplification module, the lens mounting frame 13 and the displacement guide mechanism 9 are not affected by the friction force of redundant contact surfaces.
Preferably, an included angle formed by the two side frames of the pre-tightening frame 8, which are not integrated with the fixed frame 14, is provided with a chamfer 8-3, so that the structural strength of the pre-tightening frame 8 can be increased.
Preferably, the length of the supporting beam 3-4 is smaller than the free length of the pre-tightening spring 4, and after the supporting beam 3-4 is matched with the second pre-tightening guide block 6, the pre-tightening spring 4 is ensured to reach a preset compression amount, and the piezoelectric stack 7 is prevented from being discharged towards the pre-tightening spring 4 when being electrified.
Preferably, the first-stage flexible hinge 11-1 is a circular flexible hinge, the second-stage flexible hinge 12-1 and the third-stage flexible hinge 10-1 are right-angle flexible hinges, and the flexible hinges are used for deflecting after being stressed, so that the transmission of force and displacement on the structure is realized.
The specific embodiment is as follows:
as shown in fig. 1, a precise two-dimensional image stabilization device based on a piezoelectric stack comprises a fixed frame 14, a piezoelectric stack pre-tightening module, a piezoelectric stack 7, a piezoelectric stack displacement amplification module, a lens mounting frame 13 and a displacement guide mechanism 9; the two parts of the piezoelectric stack pre-tightening module which are completely the same are positioned at the diagonal position of the fixed frame 14, and comprise a pre-tightening frame 8, a pre-tightening bolt 1, a first pre-tightening guide block 3, a first pre-tightening guide block bolt 2, a pre-tightening spring 4, a second pre-tightening guide block 6 and a second pre-tightening guide block bolt 5; the piezoelectric stack displacement amplification module is positioned on two adjacent sides of the fixed frame 14 and comprises a first-stage displacement amplification mechanism 11, a second-stage displacement amplification mechanism 12 and a third-stage displacement amplification mechanism 10.
As shown in fig. 2, the thickness of the fixing frame 14 is greater than the thickness of the rest of the two-dimensional image stabilization device, so as to ensure that the piezoelectric stack 7, the piezoelectric stack pre-tightening module, the piezoelectric stack displacement amplification module, the lens mounting bracket 13, and the displacement guide mechanism 9 are not affected by the friction force of redundant contact surfaces when the two-dimensional image stabilization device is horizontally placed for experiments.
As shown in fig. 3, the pre-tightening frame 8 is provided with a pre-tightening threaded hole 8-1, a piezoelectric stack rectangular groove 8-2 and a chamfer 8-3; the pre-tightening threaded hole 8-1 can be matched with the pre-tightening bolt 1 so as to input the force of the pre-tightening spring 4; the piezoelectric stack rectangular groove 8-2 can be matched with the piezoelectric stack 7; the chamfer 8-3 may increase structural strength.
As shown in fig. 4 and 5, the first pre-tightening guide block 3 is provided with a first threaded hole 3-1, a first circular groove 3-2, a first guide groove 3-3 and a support beam 3-4; the first threaded hole 3-1 is matched with the first pre-tightening guide block bolt 2, and then the upper part and the lower part of the first pre-tightening guide block 3 can be connected; the front and back surfaces of the first pre-tightening guide block 3 are provided with first circular grooves 3-2 which can be matched with a pre-tightening bolt 1 and a pre-tightening spring 4; the first guide groove 3-3 is matched with the pre-tightening frame 8 to play a role in displacement guide; the length of the supporting beam 3-4 is smaller than the free length of the pre-tightening spring 4, and after the supporting beam 3-4 is matched with the second pre-tightening guide block 6, the pre-tightening spring 4 is ensured to reach a preset compression amount, and the piezoelectric stack 7 is prevented from releasing force towards the pre-tightening spring 4 when being electrified.
As shown in fig. 6 and 7, the second pre-tightening guide block 6 is provided with a second threaded hole 6-1, a second circular groove 6-2, a rectangular groove 6-3 and a second guide groove 6-4; the second threaded hole 6-1 is matched with a second pre-tightening guide block bolt 5, and then the upper part and the lower part of the first pre-tightening guide block 6 can be connected; the second circular groove 6-2 can be matched with the pre-tightening spring 4; the rectangular groove 6-3 can be matched with the piezoelectric stack 7; the second guide groove 6-4 is matched with the pre-tightening frame 8 to play a role in displacement guide.
As shown in fig. 8, the piezoelectric stack displacement amplification module includes a first-stage displacement amplification mechanism 11, a first-stage flexible hinge 11-1, a second-stage displacement amplification mechanism 12, a second-stage flexible hinge 12-1, a third-stage displacement amplification mechanism 10, and a third-stage flexible hinge 10-1; the first-stage flexible hinge 11-1 is a circular flexible hinge, the second-stage flexible hinge 12-1 and the third-stage flexible hinge 10-1 are right-angle flexible hinges, and the flexible hinges are used for deflecting after being stressed, so that the transmission of structural force and displacement is realized.
As shown in fig. 9, a quasi-parallelogram amplification mechanism is formed between the third stage displacement amplification mechanism 10 and the displacement guide mechanism 9, and this structure guides the displacement direction while transmitting force and displacement, and prevents the displacement direction from deflecting.
As shown in fig. 10, which is a schematic view of the lens mount 13, the center of the lens mount 13 is provided with a circular through hole 13-1 for mounting a lens.
In an initial state, the piezoelectric stack 7 is assembled in the piezoelectric stack pre-tightening module, so that one end of the piezoelectric stack is matched with the rectangular groove 8-2 of the piezoelectric stack, and the other end of the piezoelectric stack is matched with the rectangular groove 6-3; the pre-tightening bolt 1 is matched with the pre-tightening threaded hole 8-1, the output end of the pre-tightening bolt is matched with the first circular groove 3-2, the pre-tightening bolt 1 is rotated to apply pressure to the first pre-tightening guide block 3, meanwhile, the pre-tightening spring 4 is compressed, and the pressure is transmitted to the piezoelectric stack 7 through the second pre-tightening guide block 6; when the pre-tightening spring 4 reaches a preset compression amount, the tail end of the support beam 3-4 contacts the second pre-tightening guide block 6, the pre-tightening force reaches a preset value, the pre-tightening bolt 1 stops rotating, and pre-tightening on the piezoelectric stack 7 is completed.
For the displacement output in the X direction, the piezoelectric stacks 7 in the vertical part are electrified, so that the piezoelectric stacks output force and displacement under the action of an electric field; the first-stage flexible hinge 11-1 deflects to enable the first-stage displacement amplification mechanism 11 to output force and displacement in the X direction and transmit the force and the displacement to the second-stage displacement amplification mechanism 12; the second-stage flexible hinge 12-1 deflects to enable the second-stage displacement amplification mechanism 12 to output force and displacement in the X direction and transmit the force and the displacement to the third-stage displacement amplification mechanism 10; the third-stage flexible hinge 10-1 deflects to enable the third-stage displacement amplification mechanism 10 to output force and displacement in the X direction and transmit the force and the displacement to the lens mounting frame 13; the lens mount 13 realizes displacement output in the X direction under the displacement guide action of the displacement guide mechanism 9.
For the displacement output in the Y direction, the piezoelectric stacks 7 in the horizontal part are electrified, so that the piezoelectric stacks output force and displacement under the action of an electric field; the first-stage flexible hinge 11-1 deflects to enable the first-stage displacement amplification mechanism 11 to output force and displacement in the Y direction and transmit the force and the displacement to the second-stage displacement amplification mechanism 12; the second-stage flexible hinge 12-1 deflects to enable the second-stage displacement amplification mechanism 12 to output force and displacement in the Y direction and transmit the force and the displacement to the third-stage displacement amplification mechanism 10; the third-stage flexible hinge 10-1 deflects to enable the third-stage displacement amplification mechanism 10 to output force and displacement in the Y direction and transmit the force and the displacement to the lens mounting frame 13; the lens mount 13 realizes displacement output in the Y direction under the displacement guide effect of the displacement guide mechanism 9.
For the displacement in the two-dimensional plane, the lens mount 13 receives the force and displacement output in the X direction and the Y direction at the same time, and the displacement output in the two-dimensional plane is realized under the displacement guide effect of the displacement guide mechanism 9.
The invention relates to a precise two-dimensional image stabilizing device based on a piezoelectric stack.A piezoelectric stack pre-tightening module can provide controllable required pre-tightening force for a piezoelectric stack 7; the displacement generated after the piezoelectric stack 7 is electrified can be multiplied by a piezoelectric stack displacement amplification module, so that micron-grade displacement output is realized; the flexible hinge can transmit output force and amplified displacement to the lens mounting frame 13, and a quasi-parallelogram amplifying mechanism formed between the third-stage displacement amplifying mechanism 10 and the displacement guide mechanism 9 can reduce the displacement output coupling in the X direction and the Y direction, so that the problem of mutual interference of the parallel mechanisms in different directions is solved.
Claims (8)
1. A precise two-dimensional image stabilizing device based on a piezoelectric stack is characterized by comprising a fixed frame, a piezoelectric stack pre-tightening module, a piezoelectric stack displacement amplification module, a lens mounting frame and a displacement guide mechanism; the fixed frame is of a square frame structure; the piezoelectric stack pre-tightening module, the piezoelectric stack and the piezoelectric stack displacement amplification module all comprise two identical parts which take a diagonal line of the fixed frame as a symmetry axis and are respectively called a vertical part and a horizontal part;
the structure of the vertical part is as follows:
the piezoelectric stack pre-tightening module comprises a pre-tightening frame, a pre-tightening bolt, a first pre-tightening guide block bolt, a pre-tightening spring, a second pre-tightening guide block and a second pre-tightening guide block bolt;
the first pre-tightening guide block is divided into a front piece and a rear piece which are the same, each piece comprises two supporting beams, and the upper part of each piece is provided with a first threaded hole; the first pre-tightening guide block bolt penetrates through the first threaded hole to connect the front and rear pieces of the first pre-tightening guide block together; a front threaded hole and a rear threaded hole are connected together, then a first circular groove is formed on the upper surface and the lower surface of the top of the first pre-tightening guide block respectively, and a first guide groove is formed between two support beams on two side surfaces of the first pre-tightening guide block respectively;
the second pre-tightening guide block is divided into a front piece and a rear piece which are the same, and each piece is provided with a second threaded hole; the second pre-tightening guide block bolt penetrates through the second threaded hole to connect the front and rear sheets of the second pre-tightening guide block together; a second round groove is formed on the upper surface of the second pre-tightening guide block after the front and the rear pre-tightening guide blocks are connected together, a rectangular groove is formed on the lower surface of the second pre-tightening guide block, and a second guide groove is formed on each of two sides of the second pre-tightening guide block;
the pre-tightening frame is square, and the top and the adjacent side frames are integrated with the fixed frame; two side frames of the pre-tightening frame are clamped into the first guide groove and the second guide groove from top to bottom to play a role in displacement guide; the pre-tightening bolt penetrates through a pre-tightening threaded hole in the top of the pre-tightening frame and then is matched with a first circular groove in the upper surface of the top of the first pre-tightening guide block; the upper end of the pre-tightening spring is matched with a first circular groove on the lower surface of the top of the first pre-tightening guide block, and the lower end of the pre-tightening spring is matched with a second circular groove of the second pre-tightening guide block; the upper end of the piezoelectric stack is matched with the rectangular groove of the second pre-tightening guide block, and the lower end of the piezoelectric stack is matched with the piezoelectric stack rectangular groove on the inner surface of the bottom of the pre-tightening frame;
in an initial state, rotating the pre-tightening bolt to apply pressure to the first pre-tightening guide block, compressing the pre-tightening spring at the same time, and transmitting the pressure to the piezoelectric stack through the second pre-tightening guide block; when the pre-tightening spring reaches a preset compression amount, the tail end of the supporting beam contacts the second pre-tightening guide block, the pre-tightening force reaches a preset value, and the pre-tightening bolt stops rotating to complete pre-tightening on the piezoelectric stack;
the piezoelectric stack displacement amplification module comprises a first-stage displacement amplification mechanism, a second-stage displacement amplification mechanism and a third-stage displacement amplification mechanism;
the first-stage displacement amplification mechanism is of a triangular amplification structure and is respectively connected with the bottom of the pre-tightening frame, the side edge of the fixed frame and the second-stage displacement amplification mechanism through first-stage flexible hinges arranged at different positions; the second-stage displacement amplification mechanism is a lever amplification structure and is respectively connected with the side edge of the fixed frame and the third-stage displacement amplification mechanism through second-stage flexible hinges arranged at different positions; the third-stage displacement amplification mechanism is of a lever amplification structure, the upper end of the third-stage displacement amplification mechanism is connected with the pre-tightening frame through a third-stage flexible hinge, and the lower end of the third-stage displacement amplification mechanism is connected with the middle of the left side edge of the lens mounting frame through a third-stage flexible hinge;
the horizontal part is symmetrical to the vertical part, and a third-stage displacement amplification mechanism of the horizontal part is connected with the middle part of the lower side edge of the lens mounting frame through a third-stage flexible hinge;
the lens mounting frame is square and is positioned in the center of the fixed frame; the right side and the upper side of the lens mounting rack are connected with the fixed frame through flexible hinges on the displacement guide mechanism; the center of the lens mounting frame is provided with a circular through hole for mounting the lens.
2. The piezoelectric stack-based precise two-dimensional image stabilization device according to claim 1, wherein a quasi-parallelogram amplifying structure is formed between the third-stage displacement amplifying mechanism and the displacement guide mechanism, and the quasi-parallelogram amplifying structure guides the displacement direction while transmitting force and displacement, so that the displacement direction is prevented from deflecting.
3. The piezoelectric stack-based precise two-dimensional image stabilizing device according to claim 1, wherein the fixed frame, the pre-tightening frame, the piezoelectric stack displacement amplification module, the lens mounting frame and the displacement guide mechanism are all made of 65Mn spring steel materials and are formed in one step by a high-precision linear cutting process.
4. The piezoelectric stack-based precise two-dimensional image stabilizing device according to claim 1, wherein the piezoelectric stack is rectangular, a PZT-5H material is adopted, the surface of the piezoelectric stack is encapsulated by epoxy resin, and the polarization direction is the same as the mounting direction.
5. The precise two-dimensional image stabilization device based on the piezoelectric stack according to claim 1, wherein the thickness of the fixing frame is larger than the thickness of the rest part of the precise two-dimensional image stabilization device, so that when the precise two-dimensional image stabilization device is horizontally placed, the piezoelectric stack pre-tightening module, the piezoelectric stack displacement amplification module, the lens mounting frame and the displacement guide mechanism are not affected by redundant contact surface friction force.
6. The piezoelectric stack-based precise two-dimensional image stabilizing device according to claim 1, wherein an included angle formed by the two side frames of the pre-tightening frame, which are not integrated with the fixed frame, is provided with a chamfer, so that the structural strength of the pre-tightening frame can be increased.
7. The piezoelectric stack-based precise two-dimensional image stabilizing device according to claim 1, wherein the length of the supporting beam is smaller than the free length of the pre-tightening spring, and after the supporting beam is matched with the second pre-tightening guide block, the pre-tightening spring is ensured to reach a preset compression amount, and the piezoelectric stack is prevented from being discharged towards the pre-tightening spring when being electrified.
8. The piezoelectric stack-based precise two-dimensional image stabilizing device according to claim 1, wherein the first-stage flexible hinge is a circular flexible hinge, the second-stage flexible hinge and the third-stage flexible hinge are right-angle flexible hinges, and the flexible hinges are used for deflecting after being stressed, so that the transmission of structural force and displacement is realized.
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