Biomimetic piezoelectric automatic actuator

Abstract

This invention discloses a biomimetic piezoelectric automatic actuator, relating to the field of precision drive, comprising a body and a piezoelectric transducer for driving the body; the body includes a support frame, a lifting lever, and a lateral lever, the lifting lever and the lateral lever being hinged to the support frame respectively; the piezoelectric transducer includes a fixed beam, a stack of tensile piezoelectric ceramics, a spatial amplification mechanism, and a V-shaped drive beam, the fixed beam being connected to the support frame, the stack of tensile piezoelectric ceramics being tightly fixed to both sides of the inner wall of the fixed beam, the output end of the stack of tensile piezoelectric ceramics being connected to the top of the V-shaped drive beam through the spatial amplification mechanism, the ends of the V-shaped drive beam being driven and engaged with the lifting lever and the lateral lever respectively; under differential phase signal excitation, the stack of tensile piezoelectric ceramics drives the ends of the V-shaped drive beam to generate an elliptical motion trajectory, the V-shaped drive beam driving the lifting lever and the lateral lever, generating an amplified elliptical motion trajectory at the end of the lateral lever, thereby driving the piezoelectric automatic actuator to move, achieving efficient motion.

Description

Technical Field

[0001] This invention relates to the field of precision drive, and more particularly to a biomimetic piezoelectric automatic actuator. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] Piezoelectric / ultrasonic actuators are braking elements that convert electrical energy into mechanical energy based on the inverse piezoelectric effect of piezoelectric materials, and output driving force through a precise mechanical structure. Compared with traditional motors and electromagnetic actuators, piezoelectric / ultrasonic actuators have advantages such as low noise, compact structure, fast response, and self-locking during power failure. The driving methods of piezoelectric / ultrasonic actuators are generally divided into transducer excitation and piezoelectric ceramic patch excitation. When using piezoelectric ceramic patch excitation, the piezoelectric ceramic is attached to the surface of the vibrating body, and the ceramic deformation is not directly used for driving action, resulting in lower energy conversion efficiency. However, when using transducer excitation, the transducer, through impedance matching and structural optimization, can output a larger displacement or driving force at the same input power, resulting in higher energy conversion efficiency. Furthermore, through structural design and modal degeneracy, the actuator can achieve various flexible movements. Therefore, in high-precision, high-integration, and high-power-density intelligent industrial scenarios such as optical focusing equipment, small robots, aerospace, and microelectromechanical systems (MEMS), transducer-excited piezoelectric / ultrasonic actuators have more significant technical advantages and broader application prospects.

[0004] To meet the requirements of different applications, various transducer-driven piezoelectric / ultrasonic actuators have been developed. One type of piezoelectric actuator includes a body and a connecting frame connected to each other. The connecting frame houses an input component and a displacement amplification mechanism. The input component is driven by the body to displace on the connecting frame. The displacement amplification mechanism includes a first lever flexibly hinged to the connecting frame. Driven by the input component, the displacement amplification mechanism forces one end of the first lever to displace, with the displacement stroke of one end of the first lever exceeding the displacement stroke of the input component. An output component is limited to the other end of the first lever. The flexible hinge point between the first lever and the connecting frame is located closer to the input component, which can amplify the displacement stroke of the input component several times, thus achieving a larger amplification ratio suitable for precision engineering applications with large strokes. Another type of piezoelectric linear actuator consists of a base, a slider, an isosceles trapezoidal stator, and a preload mechanism. The slider and preload mechanism are mounted on the base. The preload mechanism, which houses the isosceles trapezoidal stator, is used to preload the isosceles trapezoidal stator and slider. The isosceles trapezoidal stator comprises an isosceles trapezoidal flexible mechanism and four rectangular piezoelectric ceramic plates. The isosceles trapezoidal flexible mechanism is fixed to the surface of the pre-tightening mechanism through two mounting holes. A sawtooth wave signal excites the piezoelectric ceramic plates, thereby changing the x and y displacements of the isosceles trapezoidal mechanism at the contact point between the drive foot and the slider, thus altering the frictional force on the contact surface. At the rising edge of the sawtooth wave signal, the drive foot exhibits a larger y-direction displacement, increasing the normal force during the slow polarization phase and consequently increasing the static frictional driving force. At the falling edge of the sawtooth wave, the drive foot exhibits a smaller y-direction displacement, reducing the dynamic frictional resistance during the rapid recovery phase, thereby suppressing backlash and improving motion performance. Furthermore, existing multi-piezoelectric oscillator bidirectional rotary actuators and piezoelectric rotary actuators can also achieve braking purposes such as moving the piezoelectric / ultrasonic actuator body or carrying a load.

[0005] However, structures using multi-layered lever flexible hinges are limited by the characteristics of mechanical structures, resulting in large structural frames that are not conducive to system integration, and poor structural stiffness, making them unable to bear large loads. Meanwhile, stick-slip piezoelectric actuators are limited by the small vibration displacement and poor mechanical output characteristics of the piezoelectric ceramic itself, resulting in limited thrust and power densities. This leads to unstable movement speeds and poor load-bearing capacity, failing to meet the requirements of high speed and high load-bearing capacity in practical applications, and hindering the widespread application of actuators in various scenarios. Traditional piezoelectric / ultrasonic actuators using simple geometries (rectangular, cylindrical, etc.) can only achieve single-degree-of-freedom motion through a combination of two vibrations, failing to meet the requirements of high flexibility and high controllability. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention provides a biomimetic piezoelectric automatic actuator for achieving high-speed and high-precision movement.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: This invention provides a biomimetic piezoelectric automatic actuator, comprising a body and a piezoelectric transducer for driving the body; the body includes a support frame, a lifting lever, and a lateral lever, the lifting lever and the lateral lever being hinged to the support frame respectively; the piezoelectric transducer includes a fixed beam, a stack of tensile piezoelectric ceramics, a spatial amplification mechanism, and a V-shaped drive beam, the fixed beam being connected to the support frame, the stack of tensile piezoelectric ceramics being tightly fixed to both sides of the inner wall of the fixed beam, the output end of the stack of tensile piezoelectric ceramics being connected to the top end of the V-shaped drive beam through the spatial amplification mechanism, and the ends of the V-shaped drive beam being driven and engaged with the lifting lever and the lateral lever respectively; When the piezoelectric ceramic stack is stretched and excited by a differential signal, it drives the end of the V-shaped drive beam to generate an elliptical motion trajectory. The V-shaped drive beam drives the lifting lever and the transverse lever, and generates an amplified elliptical motion trajectory at the end of the transverse lever, which in turn drives the piezoelectric actuator to move.

[0008] In a further technical solution, the support frame is triangular, hollow inside, and has no side walls on either side.

[0009] Through the above technical solution, the support frame provides a stable support foundation for the internal mechanism, the hollow interior provides ample space for installing piezoelectric transducers, levers and other components, and the absence of side walls on both sides avoids interference between moving parts and the frame during movement, ensuring the free swing range of the lifting lever and the lateral lever.

[0010] In a further technical solution, the lateral lever includes a first driving foot and a second driving foot, the top ends of which are respectively hinged to the top two sides of the support frame.

[0011] With the above technical solution, the two driving feet are symmetrically hinged from both sides of the top of the support frame, so that the driving force transmitted from the V-shaped driving beam can be evenly distributed, producing a smooth, bidirectional lateral movement.

[0012] In a further technical solution, a crossbar is hinged between the first driving foot and the second driving foot.

[0013] In a further technical solution, the upper and lower sides of the crossbar are respectively hinged to the end of the V-shaped drive beam and the top of the lifting lever.

[0014] Through the above technical solution, the crossbar, in conjunction with the lifting lever, amplifies the motion.

[0015] In a further technical solution, the lifting lever is located between the crossbar and the bottom end of the support frame.

[0016] The above technical solution clarifies the installation location of the lifting lever.

[0017] In a further technical solution, the top of the lifting lever is hinged to the crossbar, and the bottom is hinged to the inner side of the bottom of the support frame.

[0018] Through the above technical solution, the lifting lever is limited to a double hinge connection, thus forming a lever amplification mechanism.

[0019] In a further technical solution, the fixed beam is inverted U-shaped.

[0020] Through the above technical solution, the inverted U-shape has good bending stiffness in mechanics, can effectively withstand the reaction force generated when the piezoelectric ceramics are stacked and expanded, and transmit the force to the frame to form an effective closed force loop.

[0021] In a further technical solution, the top of the fixed beam is fixedly connected to the top wall inside the support frame.

[0022] In a further technical solution, the spatial magnification mechanism is a metal sheet bonded to the top surface of the V-shaped drive beam.

[0023] The above technical solution utilizes a metal sheet as a spatial magnification mechanism, taking advantage of the elastic deformation characteristics of metal. The bonding method is simple and reliable, avoiding hinge gaps and friction, and ensuring the continuity and high precision of motion transmission.

[0024] The above one or more technical solutions have the following beneficial effects: This invention outputs elliptical motion through a transducer structure, and amplifies the motion through two sets of levers (lifting lever and lateral lever), which can increase the range of motion step adjustment while maintaining its accuracy, and achieve high-speed and high-precision movement in the length direction.

[0025] Based on a spatial translation mechanism and a lever amplification mechanism, this invention designs a compact two-stage amplification mechanism that achieves efficient motion.

[0026] The present invention has two stacked tensile piezoelectric ceramics on both sides of the piezoelectric transducer. The transducer is excited to vibrate by the stack of two tensile piezoelectric ceramics of the same specification, which generates bidirectional controllable elliptical motion. This makes the actuator system simple, highly controllable, and easy to integrate into multiple application scenarios.

[0027] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0029] Figure 1 This is an overall structural diagram of the biomimetic piezoelectric automatic actuator according to an embodiment of the present invention; Figure 2This is a structural diagram of the piezoelectric transducer according to an embodiment of the present invention; Figure 3 This is a driving principle diagram of the piezoelectric transducer according to an embodiment of the present invention, wherein (a) is a principle diagram of the left side stretching and shrinking of the piezoelectric ceramic stack and the right side stretching and stretching of the piezoelectric ceramic stack, (b) is a principle diagram of the shrinking of both sides of the piezoelectric ceramic stack, (c) is a principle diagram of the left side stretching and stretching of the piezoelectric ceramic stack and the right side stretching and shrinking of the piezoelectric ceramic stack, and (d) is a principle diagram of the stretching of both sides of the piezoelectric ceramic stack. Figure 4 This is a simulation diagram of the driving principle of the bionic piezoelectric automatic actuator according to an embodiment of the present invention. Among them, (a) is a simulation diagram of the principle of the left driving foot extending and the right driving foot retracting, (b) is a simulation diagram of the principle of the left driving foot pressing down and the right driving foot lifting up, (c) is a simulation diagram of the principle of the principle of the left driving foot retracting and the right driving foot extending, and (d) is a simulation diagram of the principle of the principle of the left driving foot lifting up and the right driving foot pressing down. Figure 5 This is a driving principle diagram of the biomimetic piezoelectric automatic actuator according to an embodiment of the present invention, wherein (a) is a driving principle diagram of the left driving foot extending and the right driving foot retracting, (b) is a driving principle diagram of the left driving foot pressing down and the right driving foot lifting up, (c) is a driving principle diagram of the left driving foot retracting and the right driving foot extending, and (d) is a driving principle diagram of the left driving foot lifting up and the right driving foot pressing down. Among them, 1-body, 11-support frame, 12-lifting lever, 13-lateral lever, 2-piezoelectric transducer, 21-fixed beam, 22-stretched piezoelectric ceramic stack, 23-V-shaped drive beam, 24-spatial amplification mechanism. Detailed Implementation

[0030] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0033] Existing piezoelectric actuators are generally used in conjunction with lever structures to amplify the actuator's stroke. However, a single lever structure or bridge amplification structure can only achieve a limited amplification ratio, making it unsuitable for precision engineering applications requiring large strokes. Furthermore, the manufacturing complexity and assembly / manufacturing errors of piezoelectric / ultrasonic actuators using bending vibration significantly affect actuator performance. Piezoelectric / ultrasonic actuators using single longitudinal vibration can only produce unidirectional motion, making them unsuitable for complex operating conditions. Currently, there is no effective technical solution for an actuator consisting of only a single transducer with high-speed, high-load characteristics and a compact structure.

[0034] Inspired by the structure and gait of a crab, this invention presents a piezoelectric actuator by exciting bidirectional adjustable combined motion within a single transducer and incorporating a two-stage amplification mechanism. Based on a prototype actuator measuring 78×90×85mm³, it achieves bidirectional movement along its length and possesses a certain ability to traverse discontinuous surfaces (gap ≤20mm). When the voltage is 50V and the operating frequency is 980Hz, the transducer vibration is excited, enabling the actuator to achieve bidirectional linear motion with a maximum no-load speed of 180.6mm / s and a maximum load of 1500g. Furthermore, the actuator can withstand a traction force of 0.8N and has a step size of 273nm, exceeding the output performance of most traditional piezoelectric actuators.

[0035] Example 1 like Figure 1 As shown, this embodiment discloses a crab-inspired biomimetic piezoelectric automatic actuator, including a body 1 and a piezoelectric transducer 2 that drives the body 1; the body 1 includes a support frame 11, a lifting lever 12 and a lateral lever 13, the lifting lever 12 and the lateral lever 13 being hinged to the support frame 11 respectively; the piezoelectric transducer 2 includes a fixed beam 21, a tensile piezoelectric ceramic stack 22, a spatial amplification mechanism 24 and a V-shaped drive beam 23, the fixed beam 21 being connected to the support frame 11, the tensile piezoelectric ceramic stack 22 being tightly fixed to both sides of the inner wall of the fixed beam 21, the output end of the tensile piezoelectric ceramic stack 22 being connected to the top end of the V-shaped drive beam 23 through the spatial amplification mechanism 24, and the ends of the V-shaped drive beam 23 being driven and engaged with the lifting lever 12 and the lateral lever 13 respectively; Under differential signal excitation, the stretched piezoelectric ceramic stack 22 drives the end of the V-shaped drive beam 23 to generate an elliptical motion trajectory. The V-shaped drive beam 23 drives the lifting lever 12 and the transverse lever 13, generating an amplified elliptical motion trajectory at the end of the transverse lever 13, thereby driving the piezoelectric actuator to move. Figure 4 , Figure 5 The four states shown cycle in sequence, and the actuator outputs translational motion.

[0036] In this embodiment, the support frame 11 is used for structural support and fixation. It has a triangular frame structure with a hollow interior and hollowed-out triangular sidewalls on both sides to reduce its weight. The other two sides of the support frame 11 have no sidewalls, which facilitates the embedding of the piezoelectric transducer 2. The top and bottom of the support frame 11 are both rectangular structures, with the top area being larger than the bottom area.

[0037] In some embodiments, the holes on the triangular sidewalls of the support frame 11 are triangular, and the shape of the holes is not specifically limited and can be flexibly set.

[0038] In this embodiment, the transverse lever 13 includes a first driving foot, a second driving foot, and a crossbar between them. The top ends of the first driving foot and the second driving foot are respectively hinged to the top sides of the support frame 11, and a crossbar is hinged between the first driving foot and the second driving foot.

[0039] In some embodiments, the two ends of the crossbar are respectively hinged to the middle positions of the first drive foot and the second drive foot.

[0040] The upper and lower sides of the crossbar are respectively hinged to the end of the V-shaped drive beam 23 and the top of the lifting lever 12. The end of the V-shaped drive beam 23 generates an elliptical motion trajectory under the excitation of the tensile piezoelectric ceramic stack 22, which drives the crossbar to move, and then drives the lifting lever 12 and the transverse lever 13 hinged to the crossbar to move, thereby realizing the movement of the first driving foot and the second driving foot.

[0041] During movement, the crossbar, in conjunction with the lifting lever 12, amplifies the motion. In other words, the crossbar acts as a lever, and the upper end of the lifting lever 12 serves as a fulcrum. For example, if the end of the V-shaped drive beam 23 is raised, the crossbar will rise on one side and press down on the other, causing the two drive feet on both sides to move up and down.

[0042] In some embodiments, the first drive foot and the second drive foot are hinged or flexibly connected to the support frame 11, the crossbar is hinged or flexibly connected to the first drive foot and the second drive foot, and the crossbar is hinged or flexibly connected to the top of the V-shaped drive beam 23 and the lifting lever 12.

[0043] In this embodiment, the lifting lever 12 is located between the crossbar and the bottom end of the support frame 11, with its top end hinged to the lower side of the crossbar and its bottom end hinged to the inner side of the bottom end of the support frame 11.

[0044] The V-shaped drive beam 23 generates an elliptical motion trajectory at its end under the excitation of the tensile piezoelectric ceramic stack 22, and the lifting lever 12 rotates around its lower end point. The purpose is to enable the middle crossbar to move left and right, thereby driving the end of the drive foot to generate an elliptical motion.

[0045] Through the above technical solution, the support frame 11 is used to fix the upper surface of the U-shaped fixed beam 21 and the lower end of the lifting lever 12 so that their relative positions remain unchanged, thereby ensuring that the piezoelectric transducer can output motion.

[0046] Additionally, it should be noted that, as Figure 4 As shown, the connection point between the end of the V-shaped drive beam 23 and the crossbar, and the connection point between the top of the lifting lever 12 and the crossbar are misaligned. The connection point between the top of the lifting lever 12 and the crossbar is the middle point of the crossbar. The connection point between the V-shaped drive beam 23 and the crossbar is offset by a certain distance. The purpose is to allow the displacement output by the V-shaped drive beam 23 to be amplified through the crossbar and then transmitted to the two driving feet.

[0047] In this embodiment, as Figure 2 As shown, the piezoelectric transducer 2 includes a fixed beam 21, a tensile piezoelectric ceramic stack 22, a V-shaped drive beam 23, and a spatial amplification mechanism 24.

[0048] The fixed beam 21 is inverted U-shaped. The top of the fixed beam 21 is fixedly connected to the inner top wall of the support frame 11. At least one tensile piezoelectric ceramic stack 22 is tightly attached to the inner walls on both sides of the fixed beam 21. The tensile piezoelectric ceramic stack 22 is connected to the spatial amplification mechanism 24 to realize the amplification of the output displacement.

[0049] In some embodiments, the stretched piezoelectric ceramic stack 22 is fixed by epoxy resin bonding.

[0050] Each stretched piezoelectric ceramic stack 22 has a spatial magnification mechanism 24 attached to both its upper and lower surfaces. The spatial magnification mechanism 24 is a metal sheet attached to the surface of the stretched piezoelectric ceramic stack 22, and its structure is a spatial parallelogram mechanism.

[0051] The metal sheets attached to the upper and lower surfaces of the stretched piezoelectric ceramic stack 22 form a spatial parallelogram mechanism. When the stretched piezoelectric ceramic stack 22 elongates, the four sides of the parallelogram mechanism tighten, becoming taller and thinner, amplifying the elongation effect; when the stretched piezoelectric ceramic stack 22 contracts, the four sides of the parallelogram mechanism widen, becoming flatter, amplifying the contraction effect. This process amplifies the minute stretching and contraction of the stretched piezoelectric ceramic stack 22 into a displacement several times its own size within the parallelogram mechanism, thereby driving the V-shaped drive beam to move.

[0052] In some embodiments, the central metal plate of the spatial magnification mechanism 24 is bonded to the top surface of the V-shaped drive beam 23.

[0053] The two-segment stretch piezoelectric ceramic stack 22 are differentially excited, causing the end of the V-shaped drive beam 23 to generate an elliptical motion trajectory, which in turn drives the lifting lever 12 and the transverse lever 13 to move, and drives the piezoelectric automatic actuator to move as a whole.

[0054] In this embodiment, as Figure 3As shown, after the differential phase signal is input to the two stacked tensile piezoelectric ceramics 22, it drives the piezoelectric transducer 2 to produce four actions within a single cycle: pushing back, lifting up, moving forward, and falling, generating an elliptical motion trajectory on the V-shaped drive beam 23. In other words, Figure 3 The four modes cycle in sequence, causing the transducer output to produce elliptical motion. Based on this, the V-shaped drive beam 23 drives the lifting lever 12 and the transverse lever 13. Through displacement amplification, a larger elliptical motion is generated at the end of the transverse lever 13 (that is, the end of the first drive foot and the end of the second drive foot), which in turn drives the piezoelectric actuator to move.

[0055] Furthermore, with the input power supplies 90° out of phase, the two stretched piezoelectric ceramic stacks 22 alternately expand and contract, which can cause the piezoelectric transducer 2 to produce an image similar to... Figure 3 The deformations in (a), (b), (c), and (d) cause the piezoelectric transducer 2 to output elliptical motion at its end. In (a), the output end of the piezoelectric transducer 2 moves to the left, and the two driving feet also move to the left. In (b), the output end of the piezoelectric transducer 2 is raised, and the middle lever tilts, causing the left driving foot to press down and the right driving foot to rise. Similarly, in (c) and (d), the driving feet amplify the output of the piezoelectric transducer 2 through the lever, and also output elliptical motion, but in a different direction. Therefore, the two driving feet extend and retract in turn, allowing the actuator to translate.

[0056] It should be noted that the amplification principle in this embodiment is the lever principle, mainly consisting of two amplifying levers. The first set of levers uses a horizontal bar as the lever, with the upper end of the lifting lever 12 as the fulcrum. The second set of levers uses the first and second driving feet as levers, with the two ends of the middle horizontal bar as the fulcrum. The two levers amplify and transmit the elliptical motion generated by the V-shaped driving beam 23 to the end of the driving feet.

[0057] A +90° phase difference allows the piezoelectric actuator to move in the forward direction, while a -90° phase difference allows it to move in the reverse direction.

[0058] The piezoelectric transducer 2 satisfies the displacement output, the lifting lever 12 satisfies the lifting motion of the driving foot and amplifies the displacement during the movement, and the lateral lever 13 satisfies the lateral movement of the driving foot and amplifies the displacement during the movement.

[0059] In some implementations, the above-mentioned hinge is achieved using a flexible hinge structure.

[0060] In some implementations, the size, shape, and number of piezoelectric ceramic assemblies of the transducer body can be flexibly changed according to the actual situation, without specific limitations.

[0061] To address the limitations of traditional piezoelectric actuators, which are typically used with a single lever structure to amplify the actuator's stroke but only achieve a limited amplification ratio, making them unsuitable for precision engineering applications with large strokes, and the manufacturing complexity and assembly errors of piezoelectric / ultrasonic actuators using bending vibration, which severely affect actuator performance, as well as the limited motion patterns and weak controllability of piezoelectric / ultrasonic actuators using single longitudinal vibration, a two-stage amplification transducer-driven piezoelectric automatic actuator is proposed. By outputting elliptical motion through the transducer structure and amplifying the motion through two sets of levers, the range of motion step adjustment can be improved while maintaining accuracy, achieving high-speed and high-precision movement in the length direction. Simultaneously, the flexible hinge mechanism is simple in structure and possesses a certain degree of rigidity, making it easy to manufacture. This solves the problem of traditional piezoelectric / ultrasonic actuators being unable to simultaneously achieve high speed, high precision, multi-degree-of-freedom motion, and ease of processing. The proposed biomimetic piezoelectric automatic actuator system is simple, highly controllable, and easily configurable, facilitating its integrated application in multiple scenarios.

[0062] The biomimetic piezoelectric automatic actuator proposed in this invention has strong controllability, mainly reflected in: (1) metal printing, which has a certain rigidity. (2) the adhesive part is epoxy resin adhesive, which has strong rigidity after hardening and is seamless. (3) piezoelectric ceramic drive, which has self-locking property, only drives when energized, and the motion behavior is controlled by the amplitude, phase and frequency of the power supply.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0064] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A biomimetic piezoelectric automatic actuator, characterized in that, The piezoelectric transducer includes a main body and a drive body; the main body includes a support frame, a lifting lever and a lateral lever, the lifting lever and the lateral lever being hinged to the support frame respectively; the piezoelectric transducer includes a fixed beam, a tensile piezoelectric ceramic stack, a spatial amplification mechanism and a V-shaped drive beam, the fixed beam is connected to the support frame, the tensile piezoelectric ceramic stack is tightly fixed to both sides of the inner wall of the fixed beam, the output end of the tensile piezoelectric ceramic stack is connected to the top of the V-shaped drive beam through the spatial amplification mechanism, and the ends of the V-shaped drive beam are respectively driven by the lifting lever and the lateral lever; When the piezoelectric ceramic stack is stretched and excited by a differential signal, it drives the end of the V-shaped drive beam to generate an elliptical motion trajectory. The V-shaped drive beam drives the lifting lever and the transverse lever, and generates an amplified elliptical motion trajectory at the end of the transverse lever, which in turn drives the piezoelectric actuator to move.

2. The biomimetic piezoelectric automatic actuator as described in claim 1, characterized in that, The support frame is triangular, hollow inside, and has no side walls on either side.

3. The biomimetic piezoelectric automatic actuator as described in claim 1, characterized in that, The lateral lever includes a first driving foot and a second driving foot, the top ends of which are respectively hinged to the top two sides of the support frame.

4. A biomimetic piezoelectric automatic actuator as described in claim 3, characterized in that, A crossbar is hinged between the first driving foot and the second driving foot.

5. A biomimetic piezoelectric automatic actuator as described in claim 4, characterized in that, The upper and lower sides of the crossbar are respectively hinged to the end of the V-shaped drive beam and the top of the lifting lever.

6. A biomimetic piezoelectric automatic actuator as described in claim 1, characterized in that, The lifting lever is located between the crossbar and the bottom of the support frame.

7. A biomimetic piezoelectric automatic actuator as described in claim 6, characterized in that, The top of the lifting lever is hinged to the crossbar, and the bottom is hinged to the inner side of the bottom of the support frame.

8. A biomimetic piezoelectric automatic actuator as described in claim 1, characterized in that, The fixed beam is inverted U-shaped.

9. A biomimetic piezoelectric automatic actuator as described in claim 1, characterized in that, The top of the fixed beam is fixedly connected to the inner top wall of the support frame.

10. A biomimetic piezoelectric automatic actuator as described in claim 1, characterized in that, The spatial magnification mechanism is a metal sheet that is bonded to the top surface of the V-shaped drive beam.

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