CN206323312U - A kind of Grazing condition micro displacement magnifying mechanism - Google Patents
A kind of Grazing condition micro displacement magnifying mechanism Download PDFInfo
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- CN206323312U CN206323312U CN201720030594.XU CN201720030594U CN206323312U CN 206323312 U CN206323312 U CN 206323312U CN 201720030594 U CN201720030594 U CN 201720030594U CN 206323312 U CN206323312 U CN 206323312U
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- lever
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- displacement
- enlarger
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Abstract
A kind of Grazing condition micro displacement magnifying mechanism, including pedestal platform, enlarger, output end and piezoelectric ceramics；Enlarger is installed on pedestal platform, and output end is installed on the output position of enlarger, and piezoelectric ceramics is installed on pedestal platform, the input of the drive end of piezoelectric ceramics in alignment with enlarger；Pedestal platform includes base plate, left column and right column, and left column and right column are fixedly installed on the left side and the right of plate upper surface respectively.The flexible amplifier architecture is more compact, and integral rigidity and displacement equations multiple are bigger.
Description
Technical field
The utility model, which is related to, makes flexible micro-nano field into, particularly a kind of Grazing condition micro displacement magnifying mechanism.
Background technology
Compliant mechanism is elastic deformation transmission or the novel mechanism of converting motion, power or energy of the class using material.
The field such as bionic mechanical and robot, compliant mechanism also plays more and more important effect, and such mechanism is generally otherwise known as
Flexible bionic mechanism.
Often structure is not compact enough for existing flexible displacement amplifying mechanism, and stroke is mutually restricted with integral rigidity, it is impossible to met
The demand in the fields such as high-accuracy High-speed machining equipment, flexible robot；And be significantly improved in terms of stroke and integral rigidity,
But the coupling error for being difficult to eliminate easily is produced, makes precise decreasing.
This patent is big for multiplication factor, and the demand of the high Grazing condition micro displacement magnifying mechanism of integral rigidity, novelty is carried
To go out design that a kind of multiplication factor is big and integral rigidity is big, compact conformation flexible mechanical displacement is put based on second lever amplification principle
Big device.Achievement in research has important theory and practice meaning in fields such as Ultra-precision Turning equipment, flexible robot, bionic mechanicals
Justice.
Utility model content
For drawbacks described above, the utility model is for fields such as high-accuracy High-speed machining, flexible robot, bionic mechanicals
Need, design a kind of Grazing condition micro displacement magnifying mechanism, amplified using second lever symmetrical expression, its more compact structure, it is overall firm
Property and displacement equations multiple it is bigger, and substantially eliminate coupling error, more adapt to the demand in reality.Meet actual high speed high
The purpose of precise motion.
For up to this purpose, the utility model uses following technical scheme：
A kind of Grazing condition micro displacement magnifying mechanism, including pedestal platform, enlarger, output end and piezoelectric ceramics；
The enlarger is installed on the pedestal platform, and the output end is installed on the output position of the enlarger,
The piezoelectric ceramics is installed on the pedestal platform, the input of the drive end of the piezoelectric ceramics in alignment with enlarger；
The pedestal platform includes base plate, left column and right column, and the left column and right column are fixedly installed on institute respectively
State the left side and the right of plate upper surface.
Wherein, the enlarger includes one-level enlarger and two grades of enlargers, and the enlarger is symmetrical expression
Enlarger；
The one-level enlarger includes the lever of the left side first and the lever of the right first, the lever of the left side first and the right
Room is provided between first lever；The right side bottom surface of the lever of the left side first is articulated with the base plate, institute by second hinge
The left side bottom surface for stating the first lever of the right is articulated with the base plate by second hinge；
The one-level enlarger also includes left side the first displacement conductive bar and the first displacement of right side conductive bar, the left side
First displacement conductive bar lower end is articulated with by hinge on the right of the upper surface of the lever of the left side first, the displacement of right side first
Conductive bar lower end is articulated with the upper surface left side of the lever of the right first by hinge；
The one-level enlarger also includes input platform, and the input platform is in rectangular-shape, first, the left side
Move the upper end of conductive bar and the first displacement of right side conductive bar respectively by hinge be articulated with the input platform base the left side and
The right；
The base plate is provided with the piezoelectric ceramics, and the piezoelectric ceramics end is pushed against in the input platform lower surface.
It is preferred that two grades of enlargers include left side second displacement conductive bar and right side second displacement conductive bar；
The left side second displacement conductive bar lower end is articulated with the left side the first lever upper surface left side, institute by hinge
The lower end for stating right side second displacement conductive bar is articulated with the right of the first lever of the right upper surface by hinge；
Two grades of enlargers also include the lever of the left side second and the lever of the right second, the lever of the left side second and the right side
Side lever is horizontal to be set；The left side of the lever of the left side second is articulated with the left column, institute by second hinge
The upper end for stating left side second displacement conductive bar is articulated with the left side of the second lever of left side bottom surface by second hinge；The right side
The right side of the lever of side second is articulated with the right column by hinge, and the upper end of the right side second displacement conductive bar passes through hinge
Chain is articulated with the right of the lever of the right second；
The right of the upper surface of the lever of the left side second is provided with output end side chain, the upper surface of the lever of the right second
The left side is provided with output end side chain, and the bottom surface left side of the output end and the right are hingedly connected to the output end branch on the left side and the right
Chain.
It is preferred that, the hinge is circular arc flexible hinge, and the second hinge is rounding straight beam type hinge.
Further, the input platform lower surface center is trapezoidal projection.
It is preferred that being provided with thickening layer above the lever of the left side second, the thickening layer is by the lever of the left side second
Surface is in gradually transition from high to low to the right from left to right；Thickening layer is provided with above the lever of the right second, the thickening layer is by institute
It is in gradually transition from high to low to the left from right to left to state the second lever upper surface of the right.
It is preferred that the output end side chain is oblique setting, the set-up mode of two output end side chains is in open
Mouthful it is horn-like, the output end side chain be flexible hinge.
Enlarger is arranged at pedestal platform, makes structural module, and pedestal platform is arranged to U-shaped structure, makes enlarger
There is sufficient supporting construction, so as to the fulcrum enough to enlarger, you can enable enlarger when setting lever
There are left side, right side and bottom surface as the strong point, structure for amplifying can be set as far as possible；One-level enlarger and two grades of enlargers
The displacement of piezoelectric ceramics is exaggerated, device employs symmetrical expression structure for amplifying, and its more compact structure, integral rigidity is bigger, and
Coupling error is substantially eliminated, the demand in reality is more adapted to.
Brief description of the drawings
Fig. 1 is the overall structure diagram of one embodiment of the present utility model；
Fig. 2 is two grades of mplifying structure schematic diagrams of one embodiment of the present utility model；
Fig. 3 is the oblique mining figure of one embodiment of the present utility model.
Wherein：Pedestal platform 100, base plate 110, left column 120, right column 130, enlarger 200, one-level enlarger
210th, the first lever of the left side 211, the first lever of the right 212, the first displacement of left side conductive bar 213, the first displacement of right side conductive bar
214th, input platform 215, two grades of enlargers 220, left side second displacement conductive bar 221, right side second displacement conductive bar 222,
The second lever of the left side 223, the second lever of the right 224, output end 300, piezoelectric ceramics 400, hinge A, second hinge B, output end
Side chain C.
Embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.
As Figure 1-3, a kind of Grazing condition micro displacement magnifying mechanism, including pedestal platform 100, enlarger 200, output end
300 and piezoelectric ceramics 400；
The enlarger 200 is installed on the pedestal platform 100, and the output end 300 is installed on the enlarger 200
Output position, the piezoelectric ceramics 400 is installed on the pedestal platform 100, and the drive end of the piezoelectric ceramics 400 is in alignment with putting
The input of great institutions 200；
The pedestal platform 100 includes base plate 110, left column 120 and right column 130, the left column 120 and right column
130 are fixedly installed on the left side and the right of the upper surface of base plate 110 respectively.
Enlarger 200 is arranged at pedestal platform 100, makes structural module, and pedestal platform is arranged to U-shaped structure, makes to put
Great institutions 200 have sufficient supporting construction, so as to the fulcrum enough to enlarger, you can enlarger is being set thick stick
Can there are left side, right side and bottom surface during bar as the strong point, structure for amplifying can be set as far as possible.
Wherein, the enlarger 200 includes one-level enlarger 210 and two grades of enlargers 220, the enlarger
200 be symmetrical expression enlarger；
The one-level enlarger 210 includes the first lever of the left side 211 and the first lever of the right 212, the left side first
Room is provided between lever 211 and the first lever of the right 212；The right side bottom surface of first lever of the left side 211 passes through the second hinge
Chain B is articulated with the base plate, and the left side bottom surface of first lever of the right 212 is articulated with the base plate by second hinge B
110；
The one-level enlarger 210 also includes the first displacement of left side conductive bar 213 and the first displacement of right side conductive bar
214, the upper surface that the lower end of the first displacement of left side conductive bar 213 is articulated with first lever of the left side 211 by hinge A is right
Side, the upper surface that the lower end of the first displacement of right side conductive bar 214 is articulated with first lever of the right 212 by hinge A is left
Side；
The one-level enlarger 210 also includes input platform 215, and the input platform 215 is in rectangular-shape, the left side
It is flat that the upper end of the first displacement of side conductive bar 213 and the first displacement of right side conductive bar 214 is articulated with the input by hinge A respectively
The left side and the right of the bottom surface of platform 215；
The base plate 110 is provided with the piezoelectric ceramics 400, and the end of piezoelectric ceramics 400 is pushed against in the input platform
215 lower surfaces.
The directly hair of one-level enlarger 210 is exaggerated the displacement of piezoelectric ceramics 400, and the displacement of piezoelectric ceramics 400 will
The jack-up of platform 215 is inputted, so that inputting platform 215 drives the first displacement conductive bar 213 of left side and the first displacement of right side conductive bar
214, and then displacement is exaggerated by the first lever of the left side 211 and the first lever of the right 212；The subsequent left side first lever
211 and the first lever of the right 212 drive left side second displacement conductive bar 221 and right side second displacement conductive bar 222；Device is used
Symmetrical expression structure for amplifying, its more compact structure, integral rigidity is bigger, and substantially eliminate coupling error, more adapts in reality
Demand.
In addition, two grades of enlargers 220 include left side second displacement conductive bar 221 and right side second displacement conductive bar
222；
The lower end of left side second displacement conductive bar 221 is articulated with the upper surface of the first lever of the left side 211 by hinge A
The left side, the lower end of the right side second displacement conductive bar 222 is articulated with the upper surface of the first lever of the right 212 by hinge A
The right；
Two grades of enlargers 220 also include the second lever of the left side 223 and the second lever of the right 224, the left side the
Two levers 223 and the right lever are horizontal to be set；The left side of second lever of the left side 223 is hinged by second hinge
In the left column 120, the upper end of the left side second displacement conductive bar is articulated with the thick stick of the left side second by second hinge
The left side of the bottom surface of bar 223；The right side of second lever of the right 224 is articulated with the right column 130 by hinge A, described
The upper end of right side second displacement conductive bar 222 is articulated with the right of second lever of the right 224 by hinge A；
The right of the upper surface of second lever of the left side 223 is provided with output end side chain C, second lever of the right 224
The upper surface left side be provided with output end side chain C, the bottom surface left side and the right of the output end 300 are hingedly connected to the left side and the right
Output end side chain C.
Left side second displacement conductive bar 221 and right side second displacement conductive bar drive the second lever of the left side 223 and the right the
After two levers 224, the second lever of the left side 223 and the second lever of the right 224 again amplify displacement, output end is delivered to；
One-level enlarger 210 constitutes two grades of symmetrical structure for amplifying, is further exaggerated displacement plus two grades of enlargers 220；This
Outside, its more compact structure of symmetrical expression structure for amplifying, integral rigidity is bigger, and substantially eliminates coupling error, more adapts in reality
Demand.Meet the purpose of high-speed high-precision motion in practice.
Wherein, the hinge A is circular arc flexible hinge, and the second hinge B is rounding straight beam type hinge.
Circular arc type flexible hinge has larger slewing area, and in the absence of mechanical friction, it is also high with autokinesis
With gapless advantage, it is adapted to close fine motion adjustment, hinge A is more convenient for being driven using circular arc type flexible hinge；Straight beam type is flexible
The kinematic accuracy of hinge is higher, but movement travel is very restricted, and can only realize the rotation of slight amplitude.Most common shape
Formula is that around an axle elastic bending, and this elastic deformation is reversible, and second hinge B is using straight beam type flexible hinge in piezoelectricity
When ceramics 400 do not apply active force, enlarger 200 can reset rapidly.
In addition, the input platform 215 lower surface center is trapezoidal projection.
The active force that the setting of projection enables piezoelectric ceramics 400 to apply uniformly acts on input platform 215, and convex
Block makes the overall structural strength of input platform 215 bigger, be not likely to produce deformation, it is to avoid the loss of displacement, makes displacement
Transmission is more accurate.
As the supplement to above-mentioned technology, second lever of the left side 223 is provided with thickening layer above, and the thickening layer is by institute
It is in gradually transition from high to low to the right from left to right to state the upper surface of the second lever of the left side 223；Second lever of the right 224 is provided with above
Thickening layer, the thickening layer is in gradually transition from high to low to the left from right to left by the upper surface of the second lever of the right 224.
The setting of thickening layer is equally the increase in the structural strength of input platform 215, it is to avoid enlarger 200 is in use
In displacement enlargement amount, the second lever of the left side 223 and the second lever of the right 224 produce deformation after stress, it is ensured that enlarger
200 can more accurately transmit displacement.
In addition, the output end side chain C is oblique setting, two output end side chain C set-up mode is in open
Mouthful it is horn-like, the output end side chain C be flexible hinge.
Output end side chain C is arranged to skewed, the second enlarger 220 is produced deformation, this deformation will can incline
Ramp-like output end side chain C is squeezed into vertical configuration, so as to the displacement of further increase output end.
Know-why of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With new principle, and the limitation to the utility model protection domain can not be construed in any way.Based on explanation herein,
Those skilled in the art, which would not require any inventive effort, can associate other embodiments of the present utility model,
These modes are fallen within protection domain of the present utility model.
Claims (7)
1. a kind of Grazing condition micro displacement magnifying mechanism, it is characterised in that：Including pedestal platform, enlarger, output end and piezoelectricity pottery
Porcelain；
The enlarger is installed on the pedestal platform, and the output end is installed on the output position of the enlarger, described
Piezoelectric ceramics is installed on the pedestal platform, the input of the drive end of the piezoelectric ceramics in alignment with enlarger；
The pedestal platform includes base plate, left column and right column, and the left column and right column are fixedly installed on the bottom respectively
The left side and the right of plate upper surface.
2. Grazing condition micro displacement magnifying mechanism according to claim 1, it is characterised in that：The enlarger includes one-level
Enlarger and two grades of enlargers, the enlarger are symmetrical expression enlarger；
The one-level enlarger includes the lever of the left side first and the lever of the right first, the lever of the left side first and the right first
Room is provided between lever；The right side bottom surface of the lever of the left side first is articulated with the base plate, the right side by second hinge
The left side bottom surface of the lever of side first is articulated with the base plate by second hinge；
The one-level enlarger also includes left side the first displacement conductive bar and the first displacement of right side conductive bar, the left side first
Displacement conductive bar lower end is articulated with by hinge on the right of the upper surface of the lever of the left side first, the displacement of right side first conduction
Bar lower end is articulated with the upper surface left side of the lever of the right first by hinge；
The one-level enlarger also includes input platform, and the input platform is in rectangular-shape, and the displacement of left side first is passed
The upper end of guide rod and the first displacement of right side conductive bar is articulated with the left side and the right of the input platform base by hinge respectively；
The base plate is provided with the piezoelectric ceramics, and the piezoelectric ceramics end is pushed against in the input platform lower surface.
3. Grazing condition micro displacement magnifying mechanism according to claim 2, it is characterised in that：Two grades of enlargers include
Left side second displacement conductive bar and right side second displacement conductive bar；
The left side second displacement conductive bar lower end is articulated with the left side the first lever upper surface left side, the right side by hinge
The lower end of side second displacement conductive bar is articulated with the right of the first lever of the right upper surface by hinge；
Two grades of enlargers also include the lever of the left side second and the lever of the right second, the lever of the left side second and the right thick stick
Bar is horizontal to be set；The left side of the lever of the left side second is articulated with the left column, the left side by second hinge
The upper end of side second displacement conductive bar is articulated with the left side of the second lever of left side bottom surface by second hinge；Described the right
The right side of two levers is articulated with the right column by hinge, and the upper end of the right side second displacement conductive bar is cut with scissors by hinge
It is connected to the right of the lever of the right second；
The right of the upper surface of the lever of the left side second is provided with output end side chain, the upper surface left side of the lever of the right second
Provided with output end side chain, the bottom surface left side of the output end and the right are hingedly connected to the output end side chain on the left side and the right.
4. Grazing condition micro displacement magnifying mechanism according to claim 3, it is characterised in that：The hinge is that circular arc is flexible
Hinge, the second hinge is rounding straight beam type hinge.
5. Grazing condition micro displacement magnifying mechanism according to claim 1, it is characterised in that：In the input platform lower surface
The heart is trapezoidal projection.
6. Grazing condition micro displacement magnifying mechanism according to claim 3, it is characterised in that：Above the lever of the left side second
Provided with thickening layer, the thickening layer is in gradually transition from high to low to the right from left to right by the second lever of left side upper surface；It is described
Above the lever of the right second be provided with thickening layer, the thickening layer by the second lever of the right upper surface from right to left to the left be in by height to
Low gradually transition.
7. Grazing condition micro displacement magnifying mechanism according to claim 3, it is characterised in that：The output end side chain is in inclining
Ramp-like to set, the set-up mode of two output end side chains is in the horn-like of opening, and the output end side chain is flexible hinge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030594.XU CN206323312U (en) | 2017-01-12 | 2017-01-12 | A kind of Grazing condition micro displacement magnifying mechanism |
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|---|---|---|---|
| CN201720030594.XU CN206323312U (en) | 2017-01-12 | 2017-01-12 | A kind of Grazing condition micro displacement magnifying mechanism |
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| CN201720030594.XU Withdrawn - After Issue CN206323312U (en) | 2017-01-12 | 2017-01-12 | A kind of Grazing condition micro displacement magnifying mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106685262A (en) * | 2017-01-12 | 2017-05-17 | 广东工业大学 | Full-flexible micro-displacement amplification mechanism |
| CN109249311A (en) * | 2018-10-15 | 2019-01-22 | 东北大学 | With the automatically controlled roll vibration absorber for improving used appearance |
| CN109713937A (en) * | 2018-11-22 | 2019-05-03 | 南京航空航天大学 | A kind of micro displacement amplifier based on uniaxial oval flexible hinge |
| CN109756150A (en) * | 2019-03-06 | 2019-05-14 | 华南农业大学 | A kind of compound displacement equations type piezoelectric actuator |
| CN110995057A (en) * | 2019-11-15 | 2020-04-10 | 东北大学 | Full-compliant micro-displacement amplification mechanism with distributed flexibility |
| CN112953295A (en) * | 2021-02-07 | 2021-06-11 | 天津大学 | Piezoelectric driving type rotary micro-positioning system |
| CN113726217A (en) * | 2021-09-07 | 2021-11-30 | 河南理工大学 | Two-dimensional large-stroke high-load decoupling deflection device |
-
2017
- 2017-01-12 CN CN201720030594.XU patent/CN206323312U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106685262A (en) * | 2017-01-12 | 2017-05-17 | 广东工业大学 | Full-flexible micro-displacement amplification mechanism |
| CN106685262B (en) * | 2017-01-12 | 2017-11-28 | 广东工业大学 | A kind of Grazing condition micro displacement magnifying mechanism |
| CN109249311A (en) * | 2018-10-15 | 2019-01-22 | 东北大学 | With the automatically controlled roll vibration absorber for improving used appearance |
| CN109713937A (en) * | 2018-11-22 | 2019-05-03 | 南京航空航天大学 | A kind of micro displacement amplifier based on uniaxial oval flexible hinge |
| CN109756150A (en) * | 2019-03-06 | 2019-05-14 | 华南农业大学 | A kind of compound displacement equations type piezoelectric actuator |
| CN110995057A (en) * | 2019-11-15 | 2020-04-10 | 东北大学 | Full-compliant micro-displacement amplification mechanism with distributed flexibility |
| CN110995057B (en) * | 2019-11-15 | 2022-12-27 | 东北大学 | Full-compliant micro-displacement amplifying mechanism with distributed flexibility |
| CN112953295A (en) * | 2021-02-07 | 2021-06-11 | 天津大学 | Piezoelectric driving type rotary micro-positioning system |
| CN113726217A (en) * | 2021-09-07 | 2021-11-30 | 河南理工大学 | Two-dimensional large-stroke high-load decoupling deflection device |
| CN113726217B (en) * | 2021-09-07 | 2024-04-19 | 河南理工大学 | Two-dimensional large-stroke high-load decoupling deflection device |
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Address after: 510009 No. 729 Dongfeng East Road, Guangzhou, Guangdong, Yuexiu District Patentee after: Guangdong University of Technology Address before: 510000 Guangdong City, Guangzhou Province University, West Ring Road, No. 100 Patentee before: Guangdong University of Technology |
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