Plane walking actuator based on piezoelectric-parallel four-bar mechanisms and walking method

Abstract

The invention provides a plane walking actuator based on piezoelectric-parallel four-bar mechanisms and a walking method. The actuator is formed by a piezoelectric three-level displacement amplifying mechanism, connecting rods, pins, parallel four-bar mechanisms, a guide rail, a driver and a controller. The method for achieving walking comprises that the piezoelectric three-level displacement amplifying mechanism is made of a piezoelectric stack and three rhombus rings and micrometric displacement output by the piezoelectric stack is amplified and then output; the connecting rods are connected the piezoelectric three-level displacement amplifying mechanism and the parallel four-bar mechanisms; the pins are rotating shafts; each of the parallel four-bar mechanisms is formed by four bars and two piezoelectric flexible structures and is fixedly engaged to a micro tooth groove of the guide rail via a micro tooth groove of corresponding piezoelectric flexible structures; and when the actuator begins to walk, the upper-part bars are fixed on the guide rail; after the actuator is electrified, the piezoelectric stack extends and the lower-part bars move rightwards; then the lower-part bars are fixed, so the upper-part bars are suspended and then the actuator is cut off, so the extended piezoelectric stack contracts and the upper-part bars move rightwards; and along with the orderly extending and contracting of the piezoelectric stack, rightward movement or leftward movement can be gradually achieved.

Description

technical field [0001] The invention relates to a walking actuator, in particular to a plane walking actuator and a walking method based on a piezoelectric-parallel four-bar mechanism. Background technique [0002] Applying an alternating electric field to piezoelectric material crystals can cause tiny mechanical deformations of piezoelectric materials. Actuators based on piezoelectric stacks have the characteristics of small output displacement and large force, and are mostly used for vibration reduction and actuation of microstructures. Generally, the micro-displacement output by the piezoelectric material can be amplified through a reasonable structural design; at the same time, the stepping mechanism can be used to realize the stepping action function. Therefore, actuators based on piezoelectric stacks have the advantages of high resolution, large output force, rapid response, and low power consumption. When there are requirements such as anti-electromagnetic interferen...

AI Technical Summary

Problems solved by technology

When there are requirements such as anti-electromagnetic interference, large stroke, small size, continuous operation, power-off lock, etc., the existing actuators cannot meet all the above conditions

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