A clamping mechanism and a driver

Abstract

The present invention provides a clamping mechanism and a driver, the clamping mechanism comprises a main body, a displacement amplification mechanism arranged on the main body, an output stabilization mechanism and a clamping part, the displacement output part of the displacement amplification mechanism is connected to the clamping part; the output stabilization mechanism comprises a first stabilization arm and a second stabilization arm, one end of the first stabilization arm and the second stabilization arm is connected to the clamping part, the other end of the first stabilization arm and the second stabilization arm is connected to the main body, and the first stabilization arm and the second stabilization arm are symmetrically arranged relative to the clamping part. Beneficial effects of the present invention: by providing a clamping displacement or maintaining a clamping displacement through a displacement amplification mechanism, a related structure of the driver, such as a rotating shaft or a rotating sleeve, can be clamped, and by providing a release displacement, the rotating shaft or the rotating sleeve can be released, wherein, by using the output stabilization mechanism, the position of the clamping part is limited, and the clamping motion stability of the clamping part is maintained, thereby improving the clamping effect of the clamping mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of drive mechanisms, and in particular to a clamping mechanism and a driver. Background Art

[0002] In recent years, with the rapid development of information technology and precision testing technology, the demand for large optical devices with microstructured surfaces (such as microlens arrays, micromirror arrays, and gratings) has continued to increase. The unit size of the microstructures on the surface of these optical devices is generally in the micrometer range, while the size of the entire microstructure surface is in the millimeter or centimeter range. In order to obtain these large optical devices, whether for their addition or for the measurement of their processed surface morphology, a precision positioning system with a large stroke and high resolution is required, and the driver of such a precision positioning system must also have a large stroke and high resolution.

[0003] At present, the driving modes of large-stroke, high-resolution precision positioning systems mainly include rotary drives, such as inchworm-type rotary drives. In related technologies, the inchworm-type rotary drive mechanism is clamped by a displacement amplification mechanism, and the displacement amplification mechanism usually includes a piezoelectric actuator. By controlling the on and off power of the piezoelectric actuator, the output displacement of the piezoelectric actuator is converted into the displacement of the displacement output part of the displacement amplification mechanism. The clamping or release of the driver is achieved through the displacement of the displacement output part. However, at present, the displacement output stability of the displacement amplification mechanism is often insufficient, resulting in the inability to fully and stably clamp the drive mechanism. Summary of the invention

[0004] The problem solved by the present invention is how to improve the output displacement stability of the displacement amplification mechanism so as to improve the clamping effect of the clamping mechanism, thereby improving the operating stability of the driver when the clamping mechanism is used in the driver.

[0005] In order to solve the above problems, the present invention provides a clamping mechanism, including a main body, a displacement amplification mechanism, an output stabilization mechanism and a clamping part arranged on the main body, the displacement output part of the displacement amplification mechanism is connected to the clamping part; the output stabilization mechanism includes a first stabilization arm and a second stabilization arm, one end of the first stabilization arm and the second stabilization arm is connected to the clamping part, the other end of the first stabilization arm and the second stabilization arm is connected to the main body, and the first stabilization arm and the second stabilization arm are symmetrically arranged relative to the clamping part.

[0006] In the present technical solution, by providing a clamping displacement or maintaining a clamping displacement through a displacement amplification mechanism, the related structures of the driver, such as a rotating shaft or a rotating sleeve, can be clamped, and by providing a release displacement, the rotating shaft or the rotating sleeve can be released. An output stabilization mechanism is also included to limit the position of the clamping part and maintain the clamping movement stability of the clamping part, wherein the first stabilization arm and the second stabilization arm of the output stabilization mechanism are symmetrically arranged about the clamping part, so that the movement direction of the clamping part is always maintained in the clamping or release direction, thereby improving the clamping effect of the clamping mechanism.

[0007] Furthermore, the displacement amplification mechanism includes a first displacement amplification arm, a second displacement amplification arm, a first piezoelectric actuator and the displacement output part, one end of the first displacement amplification arm and the second displacement amplification arm is connected to the displacement output part, the other end of the first displacement amplification arm and / or the second displacement amplification arm is connected to the first piezoelectric actuator, and the first displacement amplification arm and the second displacement amplification arm are symmetrically arranged relative to the clamping part.

[0008] In the present technical solution, the output displacement of the piezoelectric actuator is amplified by a bridge-type displacement amplification mechanism, which can improve the clamping displacement output by the clamping mechanism to ensure the clamping effect, and the first displacement amplification arm and the second displacement amplification arm are symmetrically arranged relative to the clamping part, which can ensure the stability of the displacement output and improve the clamping or release effect.

[0009] Further, the first piezoelectric actuator is located between the first displacement amplifying arm and the second displacement amplifying arm, and two ends of the first piezoelectric actuator are respectively connected to the first displacement amplifying arm and the second displacement amplifying arm.

[0010] In the present technical solution, the first piezoelectric actuator is located between the first displacement amplifying arm and the second displacement amplifying arm, and the two ends are connected to the first displacement amplifying arm and the second displacement amplifying arm respectively, so that the output displacement at the two ends of the first piezoelectric actuator is converted into a displacement in the clamping or releasing direction by acting on the first displacement amplifying arm and the second displacement amplifying arm, and then the displacement output part acts on the clamping part to clamp it. Therefore, through this connection method, the displacement conversion efficiency of the displacement amplifying mechanism can be greatly improved, and the maximum displacement output can be guaranteed as much as possible.

[0011] Further, the minimum width of the cross section of the first stabilizing arm is greater than the minimum width of the cross section of the first displacement amplifying arm.

[0012] In the present technical solution, under the same material, based on the fact that the minimum cross-sectional width of the first stabilizing arm is greater than the minimum cross-sectional width of the first displacement amplifying arm, the rigidity of the first stabilizing arm is greater than the rigidity of the first displacement amplifying arm, based on the symmetrical arrangement of the first stabilizing arm and the second stabilizing arm, and the symmetrical arrangement of the first displacement amplifying arm and the second displacement amplifying arm, that is, the overall rigidity of the output stabilizing mechanism is greater than the overall rigidity of the displacement amplifying mechanism, when the output stabilizing mechanism is connected to the clamping part, and when the displacement amplifying mechanism drives the clamping part, the stabilizing effect on the clamping part is guaranteed.

[0013] Further, one end of the first displacement amplification arm away from the clamping portion abuts against the output stabilization mechanism through a preload, and / or one end of the second displacement amplification arm away from the clamping portion abuts against the output stabilization mechanism through a preload.

[0014] In the present technical solution, the first displacement amplification arm and / or the second displacement amplification arm are abutted against the output stabilization mechanism through a preload, and a first piezoelectric actuator is arranged based on the first displacement amplification arm and the second displacement amplification arm. The displacement amplification mechanism having the first piezoelectric actuator can be preloaded through the preload, and when the first piezoelectric actuator outputs displacement, the displacement direction of the first displacement amplification arm and / or the second displacement amplification arm can be limited to a certain extent through the preload, while preventing the displacement of the displacement amplification mechanism from interfering with the output stabilization mechanism, thereby better ensuring the output displacement stability in the clamping displacement direction, and further ensuring the clamping stability of the clamping mechanism.

[0015] Furthermore, the main body is connected to a plurality of the output stabilizing mechanisms, which are rotationally symmetrically arranged relative to the center of the main body. An accommodating space is enclosed between the output stabilizing mechanism and the main body, and the displacement amplifying mechanism is arranged in the accommodating space. The displacement amplifying mechanism is suitable for outputting a release displacement toward the center direction of the main body, and for outputting a clamping displacement away from the center direction of the main body.

[0016] In the technical solution, the clamping mechanism includes a plurality of output stabilization mechanisms and a plurality of displacement amplification mechanisms, so that a plurality of clamping parts can be driven by the displacement output. At the same time, the displacement amplification mechanism is suitable for outputting a release displacement toward the center direction of the main body, and suitable for outputting a clamping displacement away from the center direction of the main body. When the clamping mechanism is used in the driver, the clamping part can directly abut against the sleeve of the driver, thereby directly clamping or releasing the sleeve. Compared with indirect clamping through a rotating shaft, the clamping mechanism in the present invention has better clamping and releasing effects, and is more sensitive to the clamping or releasing, thereby The driving effect of the driver can be better improved, wherein a plurality of displacement amplification mechanisms are provided. On the one hand, the displacement amplification mechanism can change the displacement direction of the first piezoelectric actuator to the clamping direction of the clamping mechanism. On the other hand, the plurality of displacement amplification mechanisms can increase the output displacement of the first piezoelectric actuator, and the output displacement has good stability, which makes it very easy for the clamping mechanism to release or clamp the sleeve. Based on the larger output displacement, effective and tight clamping can be performed without excessively increasing the processing accuracy and assembly accuracy of the various components of the driver, thereby saving the production cost of processing and assembly.

[0017] Furthermore, a first connecting portion is provided on the main body, and the first connecting portion is suitable for connecting to a rotation driving mechanism.

[0018] In the present technical solution, first connecting parts are provided at both upper and lower ends of the main body, so as to facilitate the installation and fixation of the main body and the rotating drive mechanism, that is, to better realize the installation and fixation of the clamping mechanism and the rotating drive mechanism, and to better adapt the clamping mechanism to the driver.

[0019] In addition, the present invention provides a driver, comprising the clamping mechanism described above.

[0020] The driver of the present invention has the same advantages as the above-mentioned clamping mechanism over the prior art, which will not be described in detail here.

[0021] Furthermore, it also includes a rotation drive mechanism, which is suitable for driving the clamping mechanism to rotate.

[0022] In the technical solution, the clamping mechanism is driven to rotate by the rotary drive mechanism, and the operation of the driver can be realized by controlling the clamping state or the release state of the clamping mechanism in the driver. Therefore, in the control of the driver, only the clamping state or the release state of the clamping mechanism needs to be controlled, so that the driving operation effect of the driver can be guaranteed. This control method is relatively simple and easy to operate.

[0023] Furthermore, the rotation drive mechanism includes a rigid rotating part and a second piezoelectric actuator fixedly connected to the rigid rotating part, the second piezoelectric actuator is suitable for driving the rigid rotating part to rotate, and a second connecting part is provided on the rigid rotating part, and the second connecting part is fixedly connected to the first connecting part of the clamping mechanism.

[0024] In the present technical solution, when the second piezoelectric actuator drives the rigid rotating part to rotate, the rigid rotating part drives the clamping mechanism to move simultaneously, thereby realizing the operation of the driver, and the rotation drive mechanism is driven to rotate by the piezoelectric actuator output displacement, so that the structure of the rotation drive mechanism is simpler, the control is more convenient, and the driving effect is better.

[0025] Furthermore, the rigid rotating member includes a first rigid rotating member and a second rigid rotating member that are cross-arranged, a first gap and a second gap are formed between the first rigid rotating member and the second rigid rotating member, the second piezoelectric actuator is arranged in the first gap and the second gap, and two ends of the second piezoelectric actuator are respectively connected to the first rigid rotating member and the second rigid rotating member.

[0026] In this technical solution, a plurality of second piezoelectric actuators are cooperated to drive the rigid rotating part, thereby achieving a better driving effect.

[0027] Furthermore, elastic members are provided in the first gap and the second gap, and two ends of the elastic members are respectively connected to the first rigid rotating member and the second rigid rotating member.

[0028] In the technical solution, based on the effect of the elastic member, on the one hand, the positioning of the first rigid rotating member and the second rigid rotating member is achieved, and at the same time, the rotational movement of the driver can be made smoother.

[0029] Furthermore, the second piezoelectric actuator located in the first gap and the second piezoelectric actuator located in the second gap are arranged rotationally symmetrically with respect to a crossing center, wherein the crossing center represents a center point of a crossing portion of the first rigid rotating member and the second rigid rotating member.

[0030] In this technical solution, when the second piezoelectric actuators located in the second gap and the first gap are rotationally symmetrically arranged, the second piezoelectric actuators in the two gaps can achieve a better matching effect, so that the directions of the output displacements are matched, thereby enabling the driver to obtain better driving capability.

[0031] Furthermore, there are multiple clamping mechanisms and multiple rotation drive mechanisms, at least one of the rotation drive mechanisms is suitable for driving the corresponding clamping mechanism to rotate forward when powered on, and at least one of the rotation drive mechanisms is suitable for driving the corresponding clamping mechanism to rotate reversely when powered on.

[0032] In the present technical solution, among the multiple clamping mechanisms and rotary drive mechanisms, one rotary drive mechanism can drive the corresponding clamping mechanism to rotate forward when powered on, and the other rotary drive mechanism can drive the corresponding clamping mechanism to rotate reversely when powered on. That is, when controlling the operation of different drive mechanisms and controlling different clamping mechanisms to clamp the sleeve, the clamping and rotation methods of the sleeve can be made more diverse, so that the workpiece to be processed can be driven and processed more flexibly and reasonably.

[0033] Furthermore, the clamping portion of the clamping mechanism of the sleeve is suitable for abutting against the inner wall of the sleeve.

[0034] In the present technical solution, the inner wall of the sleeve is directly clamped by the clamping mechanism, so that there is no loss of clamping displacement, a larger clamping displacement can be output, sufficient clamping can be performed, and the operating stability of the driver is improved. At the same time, when the clamping mechanism releases the sleeve, a larger release displacement can be guaranteed to prevent the gap between the clamping mechanism and the sleeve from being too small, causing friction between the sleeve and the clamping mechanism, thereby preventing the driver from being damaged by friction and increasing the service life of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the clamping mechanism according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 The enlarged schematic diagram of the M in the middle;

[0037] Figure 3 A side view of the clamping mechanism according to an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of a driver according to an embodiment of the present invention;

[0039] Figure 5 It is a schematic diagram of the structure explosion of the driver according to an embodiment of the present invention;

[0040] Figure 6 It is a structural schematic diagram of the rotary drive mechanism of the driver according to an embodiment of the present invention;

[0041] Figure 7 It is a schematic diagram of the overall structure of the end cover, the rotary drive mechanism, and the clamping mechanism of the driver according to an embodiment of the present invention when they are installed;

[0042] Figure 8 A side view of the end cover, the rotary drive mechanism, and the clamping mechanism of the driver according to the embodiment of the present invention when installed;

[0043] Fig. 9 This is a schematic diagram of the end cover structure of the driver according to an embodiment of the present invention;

[0044] Fig.10 Schematic diagram of voltage control when two clamping mechanisms and two rotation drive mechanisms are energized in an embodiment of the present invention.

[0045] In the figure: 1-rotation drive mechanism; 101-rigid rotating member; 1011-first rigid rotating member; 1012-second rigid rotating member; 1013-first gap; 1014-second gap; 102-second piezoelectric actuator; 103-elastic member; 104-cross center; 105-second connecting part; 106-fourth connecting part; 2-clamping mechanism; 201-displacement amplification mechanism; 2011-displacement output part; 2013-first displacement amplification arm; 2113-first rigid body; 2 014-second displacement amplifying arm; 2114-second rigid body; 2015-threaded hole; 2016-first piezoelectric actuator; 202-output stabilizing mechanism; 2021-first stabilizing arm; 2022-through hole; 2023-second stabilizing arm; 203-clamping part; 205-preload; 206-main body; 2061-first connecting part; 207-accommodating space; 3-sleeve; 4-end cover; 401-end cover body; 402-third connecting part; 403-base; 404-baffle. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0047] At the same time, it should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0048] Reference Figure 1-3 As shown, the present invention proposes a clamping mechanism, including a main body 206, a displacement amplification mechanism 201 arranged on the main body 206, an output stabilization mechanism 202 and a clamping part 203, wherein the displacement output part 2011 of the displacement amplification mechanism 201 is connected to the clamping part 206; the output stabilization mechanism 202 includes a first stabilization arm 2021 and a second stabilization arm 2023, one end of the first stabilization arm 2021 and the second stabilization arm 2023 is connected to the clamping part 203, and the other end of the first stabilization arm 2021 and the second stabilization arm 2023 is connected to the main body 206, and the first stabilization arm 2021 and the second stabilization arm 2023 are symmetrically arranged relative to the clamping part 203.

[0049] In the related art, the inchworm-type rotary drive mechanism is clamped by a displacement amplification mechanism, and the displacement amplification mechanism usually includes a piezoelectric actuator. By controlling the on and off of the piezoelectric actuator, the output displacement of the piezoelectric actuator is converted into the displacement of the displacement output part of the displacement amplification mechanism. The clamping or release of the driver is achieved through the displacement of the displacement output part. However, at present, the displacement output stability of the displacement amplification mechanism is often insufficient, resulting in the inability to fully and stably clamp the drive mechanism.

[0050] Based on this, the clamping mechanism 2 proposed in the embodiment of the present invention includes a displacement amplification mechanism 201 and a clamping part 206, wherein the displacement output part 2011 of the displacement amplification mechanism 201 is connected to the clamping part 206, so as to provide a clamping displacement or a release displacement to the clamping part 206 through the displacement amplification mechanism 201. When the clamping mechanism is used in a driver, the displacement amplification mechanism 201 provides a clamping displacement or maintains a clamping displacement, so that the relevant structures of the driver, such as a rotating shaft or a rotating sleeve, can be clamped. By providing a release displacement, the rotating shaft or the rotating sleeve can be released. The output stabilization mechanism 202 is also included, and the output stabilization mechanism 202 includes a first stabilization arm 2021 and a second stabilization arm 2022. The fixed arm 2023, wherein one end of the first stabilizing arm 2021 and the second stabilizing arm 2023 are connected to the main body 206, and the main body 206 can be a rigid member, so that the output stabilizing mechanism 202 is fixed by the main body 206, and correspondingly, the other ends of the first stabilizing arm 2021 and the second stabilizing arm 2023 are connected to the clamping part 203 to limit the position of the clamping part 203 and maintain the clamping movement stability of the clamping part 203, wherein the first stabilizing arm 2021 and the second stabilizing arm 42023 of the output stabilizing mechanism 202 are symmetrically arranged with respect to the clamping part 203, so that the movement direction of the clamping part 203 is always maintained in the clamping or releasing direction, thereby improving the clamping effect of the clamping mechanism.

[0051] The displacement amplification mechanism 201 may adopt a lever-type amplification mechanism or a bridge-type amplification mechanism to realize the release displacement of the clamping mechanism or the displacement amplification output of the clamping displacement.

[0052] In an optional embodiment of the present invention, the displacement amplification mechanism 201 of the clamping mechanism 2 adopts a bridge amplification mechanism, and the specific structure includes: a first displacement amplification arm 2013, a second displacement amplification arm 2014, a first piezoelectric actuator 2016 and the displacement output part 2011, one end of the first displacement amplification arm 2013 and the second displacement amplification arm 2014 is connected to the displacement output part 2011, the other end of the first displacement amplification arm 2013 and / or the second displacement amplification arm 2014 is connected to the first piezoelectric actuator 2016, and the first displacement amplification arm 2013 and the second displacement amplification arm 2014 are symmetrically arranged relative to the clamping part 203.

[0053] In the present embodiment, the displacement amplification mechanism 201 is in the shape of a bridge as a whole, i.e., a bridge-type amplification mechanism, which includes a first displacement amplification arm 2013 and a second displacement amplification arm 2014 forming two ends of the bridge, the two being arranged at an angle, and the connection part thereof being connected to the clamping part 203, and the end away from the clamping part 203 being used to connect to the first piezoelectric actuator 2016, wherein the ends of the first displacement amplification arm 2013 and the second displacement amplification arm 2014 away from the clamping part 203 can be respectively connected to a first piezoelectric actuator 2016, or connected to two output ends of the same piezoelectric actuator 2016, or one end of the two ends is connected to an output end of a first piezoelectric actuator 2016, and the other is fixedly connected with the end of the amplification arm, so that when the first piezoelectric actuator 2016 is energized, the first piezoelectric actuator 2016 outputs a displacement, thereby counteracting the end of the displacement amplification mechanism 201, and based on the bridge-type structure of the displacement amplification mechanism 201, the displacement output part 2011 located in the middle of the displacement amplification mechanism 201 is displaced to one side, referring to Figure 1-3 In this embodiment, when the first piezoelectric actuator 2016 is powered on, the displacement output portion 2011 is displaced toward the inner side of the clamping mechanism 2 as a whole. Correspondingly, when the first piezoelectric actuator 2016 is powered off, the first piezoelectric actuator 2016 is restored, so that the displacement output portion 2011 is displaced in the opposite direction, and the displacement amplification mechanism 201 is restored, thereby amplifying and holding to achieve clamping or release. In this way, the piezoelectric actuator output displacement is amplified by the displacement amplification mechanism, which can improve the clamping displacement output by the clamping mechanism to ensure the clamping effect, and the first displacement amplification arm 2013 and the second displacement amplification arm 2014 are symmetrically arranged relative to the clamping portion 203, which can ensure the stability of the displacement output and improve the clamping or release effect.

[0054] The displacement output part 2011 of the displacement amplifying mechanism 201 is connected to the clamping part 203. Therefore, in the process of power-off-power-on-power-off of the first piezoelectric actuator 2016, the displacement output part 2011 and the clamping part 203 move simultaneously. In the initial state of the clamping mechanism 2, the first piezoelectric actuator 2016 of the clamping mechanism 2 is powered off. At this time, the displacement amplifying mechanism 201 and the clamping part 203 are located at the initial position, and the displacement output part 2011 resists the clamping part 203. When the clamping mechanism 2 is used in the driver, specifically, refer to Figure 5When the clamping mechanism 2 is arranged in the sleeve 3 of the driving mechanism, the clamping part 203 on one side of the clamping mechanism 2 can abut against the inner wall of the sleeve 3. Correspondingly, when only one clamping part 203 is provided, the side of the clamping mechanism 2 away from the clamping part 203 can abut against the inner wall of the sleeve 3 accordingly, so that when the first piezoelectric actuator 2016 is powered off, the sleeve 3 is abutted and clamped by the displacement amplifying mechanism 201 and the clamping part 203. When the first piezoelectric actuator 2016 is powered on, the first piezoelectric actuator 2016 drives the displacement output part 2011 toward the clamping part 203 to the inner wall of the sleeve 3. The displacement output part 2011 moves in the direction of the displacement output part 2011. In this embodiment, the displacement output part 2011 is driven to move toward the inside of the clamping mechanism 2, so that the clamping part 203 is finally separated from the inner wall of the sleeve 3 through the simultaneous movement of the displacement output part 2011 and the clamping part 203, thereby realizing the release of the sleeve. Based on the connection of the clamping part 203 by the output stabilizing mechanism 202, the clamping displacement of the clamping part 203 is stabilized by the output stabilizing mechanism 202. The displacement amplifying mechanism 201 acts on the clamping part 203 to clamp or release the displacement, thereby ensuring the stability of the clamping mechanism 2 during operation.

[0055] In an optional embodiment of the present invention, the first piezoelectric actuator 2016 is located between the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014, and two ends of the first piezoelectric actuator 2016 are respectively connected to the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014.

[0056] Reference Figure 1-3 In the present embodiment, the first piezoelectric actuator 2016 is located between the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014, and the two ends are connected to the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014 respectively, so that the output displacement at the two ends of the first piezoelectric actuator 2016 is converted into a displacement in a clamping or releasing direction by acting on the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014, and then acts on the clamping part 203 through the displacement output part 2011 to clamp. Therefore, through this connection method, the displacement conversion efficiency of the displacement amplifying mechanism 201 can be greatly improved, and the maximum displacement output can be guaranteed as much as possible.

[0057] In an optional embodiment of the present invention, the minimum width of the cross section of the first stabilizing arm 2021 is greater than the minimum width of the cross section of the first displacement amplifying arm 2013. In this embodiment, the minimum width of the cross section of the first stabilizing arm 2021 is greater than the minimum width of the cross section of the first displacement amplifying arm 2013, wherein the cross section is the cross section of the first stabilizing arm 2021 and the first displacement amplifying arm 2013 in the radial direction, and the minimum width is the minimum spacing of the periphery of the first displacement amplifying arm 2013 and the minimum spacing of the periphery of the first stabilizing arm 20221. Under the same material, the rigidity of the first stabilizing arm 2021 is greater than that of the first displacement amplifying arm 2013. Based on the symmetrical arrangement of the first stabilizing arm 2021 and the second stabilizing arm 2023, and the symmetrical arrangement of the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014, the overall rigidity of the output stabilizing mechanism 202 is greater than the overall rigidity of the displacement amplifying mechanism 201. When the output stabilizing mechanism 202 is connected to the clamping part 203, and when the displacement amplifying mechanism 201 drives the clamping part 203, the stabilizing effect on the clamping part 203 is ensured.

[0058] In an optional embodiment of the present invention, one end of the first displacement amplification arm 2013 away from the clamping part 203 abuts against the output stabilization mechanism 202 through a preload 205, and / or one end of the second displacement amplification arm 2014 away from the clamping part 203 abuts against the output stabilization mechanism 202 through a preload 205.

[0059] Reference Figure 2 As shown, in this embodiment, the first displacement amplifying arm 2013 and / or the second displacement amplifying arm 2014 are abutted against the output stabilizing mechanism 202 through the pre-tightening member 205, and the first piezoelectric actuator 2016 is arranged based on the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014. The displacement amplifying mechanism 201 having the first piezoelectric actuator 2016 can be pre-tightened by the pre-tightening member 205. When the first piezoelectric actuator 2016 outputs displacement, the displacement direction of the first displacement amplifying arm 2013 and / or the second displacement amplifying arm 2014 can be limited to a certain extent by the pre-tightening member 205, and at the same time, the displacement of the displacement amplifying mechanism 201 is prevented from interfering with the output stabilizing mechanism 202, so that the output displacement stability in the clamping displacement direction can be better guaranteed, and then the clamping stability of the clamping mechanism 2 can be guaranteed.

[0060] In a specific embodiment of the present invention, the first displacement amplifying arm 2013 and the second displacement amplifying arm 2014 respectively form a first rigid portion 2113 and a second rigid portion 2114 at one end away from the clamping portion 203, wherein the first piezoelectric actuator 2016 is connected to the first rigid portion 2113 and the second rigid portion 2114, so as to ensure the fixing effect of the first piezoelectric actuator 2016, wherein a threaded hole 2015 is provided on the first rigid body 2113, and correspondingly, a through hole 2022 matching the threaded hole 2015 is provided on the output stabilizing mechanism 202, wherein the pre-tightening member 205 can be a pre-tightening bolt, one end of the pre-tightening bolt passes through the through hole 2022 and is threadedly connected to the threaded hole 2015, and the other end of the pre-tightening bolt is located on the through hole 2022 and abuts against the surface of the output stabilizing mechanism 202 for pre-tightening.

[0061] In an optional embodiment of the present invention, a first connecting portion 2061 is provided on the main body 206 , and the first connecting portion 2061 is suitable for connecting to the rotation driving mechanism 1 .

[0062] In this embodiment, refer to Figure 1 As shown, the upper and lower ends of the main body 206 are both provided with a first connecting portion 2061, wherein the first connecting portion 2061 is a connecting structure with a screw hole for connecting with the rotating drive mechanism 1, and corresponding screw holes or through holes can be provided on the rotating drive mechanism 1 for connection, thereby facilitating the installation and fixation of the main body 206 and the rotating drive mechanism 1, that is, better realizing the installation and fixation of the clamping mechanism 2 and the rotating drive mechanism 1, and being able to better adapt the clamping mechanism 2 to the driver.

[0063] In an optional embodiment of the present invention, the main body 206 is connected to a plurality of the output stabilizing mechanisms 202, and the plurality of the output stabilizing mechanisms 202 are rotationally symmetrically arranged relative to the center of the main body 206. An accommodating space 207 is enclosed between the output stabilizing mechanisms 202 and the main body 206. The displacement amplifying mechanisms 201 are arranged in the accommodating space 207. The displacement amplifying mechanisms 201 are suitable for outputting a release displacement toward the center direction of the main body 206, and for outputting a clamping displacement away from the center direction of the main body 206.

[0064] In the related art, the inchworm-type rotary drive mechanism clamps the rotating shaft through a clamping mechanism so that the rotating shaft and the clamping mechanism move together, wherein the rotating shaft is connected to the rotating sleeve, and when the clamping mechanism is driven to rotate by the corresponding driving mechanism, the clamped rotating shaft moves together and drives the rotating sleeve to rotate, thereby realizing the operation of the inchworm-type rotary drive. However, under normal circumstances, the clamping displacement of the clamping mechanism of the inchworm-type rotary drive mechanism is provided by a piezoelectric actuator, and the output displacement of the piezoelectric actuator is often small. The method of driving the rotating shaft and then driving the rotating sleeve through the clamping mechanism often cannot achieve sufficient clamping or release of the rotating sleeve. If it cannot be fully clamped, the clamping force of the clamping mechanism will be small, and the motion stability of the driver will be reduced. If it cannot be fully released, serious friction and wear will occur, reducing the life of the driver.

[0065] Reference Figure 1-3 As shown, in this embodiment, there are two output stabilizing mechanisms 202, which are respectively arranged on both sides of the main body 206. As shown in the figure, the main body 206 of this example is a long strip, or a circular ring. The output stabilizing mechanism 202 is connected to the upper and lower ends of the main body 206, so that the output stabilizing mechanism 202 and the main body 206 enclose a containing space 207, wherein a displacement amplifying mechanism 201 is arranged in each of the two containing spaces 207. Based on this, when the first piezoelectric actuators 2016 located on both sides of the main body 206 are energized, the displacement output parts 2011 on both sides Both drive the clamping part 203 to release displacement inward, thereby forming a simultaneous contraction of both sides of the clamping mechanism 2 to release the sleeve 3 of the driver. Accordingly, when the first piezoelectric actuator 2016 is powered off, the displacement amplification mechanism 201, the output stabilization mechanism 202 and the clamping part 203 on both sides are clamped and maintained to ensure a larger clamping displacement, that is, when power is on, the distance between the clamping parts 203 on both sides is larger, and when power is off, the clamping parts 203 on both sides can shrink smaller, thereby achieving more effective clamping or release of the sleeve 3.

[0066] Based on the fact that the clamping mechanism 2 includes multiple output stabilizing mechanisms 202 and multiple displacement amplifying mechanisms 201, multiple clamping parts 203 can be driven by this displacement output. At the same time, the displacement amplifying mechanism 201 is suitable for outputting a release displacement toward the center direction of the main body 206, and is suitable for outputting a clamping displacement away from the center direction of the main body 206. When the clamping mechanism 2 is used in the driver, the clamping part 203 can directly abut against the sleeve 3 of the driver, thereby directly clamping or releasing the sleeve 3. Compared with indirect clamping through a rotating shaft, the clamping mechanism 2 in the present invention has better clamping and releasing effects, and is more responsive when clamping or releasing. Sensitive, thereby being able to better improve the driving effect of the driver, wherein by setting up a plurality of displacement amplification mechanisms, on the one hand, the displacement amplification mechanism can change the displacement direction of the first piezoelectric actuator 2016, and change the displacement direction to the clamping direction of the clamping mechanism 2, and on the other hand, the plurality of displacement amplification mechanisms can increase the output displacement of the first piezoelectric actuator 2016, and the output displacement has good stability, which makes it very easy for the clamping mechanism 2 to release or clamp the sleeve 3, based on the larger output displacement, it is not necessary to increase the processing accuracy and assembly accuracy of the various components of the driver too much to effectively and tightly clamp, thereby saving the production cost of processing and assembly.

[0067] Among them, the main body 206 plays a fixed supporting role in the clamping mechanism 2 to fix the output stabilizing mechanism 202. Optionally, the displacement amplifying mechanism 201 located on both sides of the main body 206 is also connected to the main body 206. The first rigid body 2113 and the second rigid body 2114 of the displacement amplifying mechanism 201 are fixedly connected to the two ends of the main body 206, thereby realizing the fixed connection between the displacement amplifying mechanism 201 and the output stabilizing mechanism 202, so as to ensure that the overall structural strength of the clamping mechanism 2 is stronger. When the clamping mechanism 2 is applied to the driver, the operation stability of the driver is ensured to be stronger.

[0068] In this embodiment, the displacement amplification mechanism 201, the output stabilization mechanism 202, the clamping portion 203, and the main body 206 are all integrally formed to further improve the structural strength of the clamping mechanism 2 and enhance the stability of the driver when applied to the driver.

[0069] In another embodiment of the present invention, a driver includes the clamping mechanism 2 described above to achieve the beneficial effects in the embodiments of the present invention.

[0070] In an optional embodiment of the present invention, the driver further comprises a rotation driving mechanism 1, wherein the rotation driving mechanism 1 is suitable for driving the clamping mechanism 2 to rotate.

[0071] Reference Figure 4 and Figure 5As shown, in this embodiment, the driver includes a rotary drive mechanism 1, wherein the rotary drive mechanism 1 is connected to the clamping mechanism 2, so as to drive the clamping mechanism 2 to rotate, thereby driving the clamping mechanism 2 to rotate through the rotary drive mechanism 1, and the operation of the driver can be achieved by controlling the clamping state or the release state of the clamping mechanism 2 in the driver. Therefore, in the control of the driver, it is only necessary to control the clamping state or the release state of the clamping mechanism 2, so as to ensure the driving operation effect of the driver. Therefore, this control method is relatively simple and easy to operate.

[0072] In an optional embodiment of the present invention, the rotation drive mechanism 1 includes a rigid rotating member 101 and a second piezoelectric actuator 102 fixedly connected to the rigid rotating member 101 , and the second piezoelectric actuator 102 is suitable for driving the rigid rotating member 101 to rotate.

[0073] Reference Figure 6 and 7 As shown, in this embodiment, the rotation drive mechanism 1 includes a rigid rotating member 101, wherein a second piezoelectric actuator 102 is provided to drive the rigid rotating member 101 to rotate based on the change of the output displacement of the piezoelectric actuator 102 when the second piezoelectric actuator 102 is energized. A second connecting portion 105 is provided on the rigid rotating member 101, and the second connecting portion 105 is fixedly connected to the first connecting portion 2061 of the clamping mechanism 2. When the first connecting portion 2061 is a structure having a screw hole, the second connecting portion 105 can be a structure having a screw hole or a through hole accordingly. Figure 7 The position and number of the screw holes or through holes of the second connecting part 105 correspond to the position and number of the screw holes of the first connecting part 2061, so that the rigid rotating part 101 and the main body 206 of the clamping mechanism 2 are connected by connecting parts such as bolts or screws, that is, the connection and fixation of the clamping mechanism 2 and the rotation driving mechanism 1 are realized. When the second piezoelectric actuator 102 drives the rigid rotating part 101 to rotate, the rigid rotating part 101 drives the clamping mechanism 2 to move at the same time, thereby realizing the operation of the driver, and the rotation driving mechanism is driven to rotate by the piezoelectric actuator output displacement, so that the structure of the rotation driving mechanism 1 is simpler, the control is more convenient, and the driving effect is better.

[0074] In an optional embodiment of the present invention, the rigid rotating member 101 includes a first rigid rotating member 1011 and a second rigid rotating member 1012 that are cross-arranged, a first gap 1013 and a second gap 1014 are formed between the first rigid rotating member 1011 and the second rigid rotating member 1012, the second piezoelectric actuator 102 is arranged in the first gap 1013 and the second gap 1014, and the two ends of the second piezoelectric actuator 102 are respectively connected to the first rigid rotating member 1011 and the second rigid rotating member 1012.

[0075] Reference Figure 6 As shown, in this embodiment, the rigid rotating member 101 of the rotation driving mechanism 1 includes a first rigid rotating member 1011 and a second rigid rotating member 1012, wherein the first rigid rotating member 1011 and the second rigid rotating member 1012 are cross-arranged, so that four gaps can be formed between the first rigid rotating member 1011 and the second rigid rotating member 1012. In this embodiment, two relative gaps are set as a first gap 1013 and a second gap 1014, so that the second piezoelectric actuator 102 is arranged in the first gap 1013 and the second gap 1014, and accordingly, the two ends of the second piezoelectric actuator 102 are respectively connected to the first rigid rotating member 1011 is connected to the second rigid rotating member 1012 so as to output displacement to the first rigid rotating member 1011 or the second rigid rotating member 1012 through the second piezoelectric actuator 102. Normally, when the rigid rotating member 101 is rotating, the output displacement directions of the second piezoelectric actuators 102 located in the two gaps 1013 should match, that is, when the second piezoelectric actuator 102 outputs displacement against the rigid rotating member 101, it provides a driving force in the circumferential direction of rotation to the rigid rotating member 101, thereby driving the rigid rotating member through the cooperation of multiple second piezoelectric actuators 102, which can bring better driving effect.

[0076] Specifically, the second piezoelectric actuator 102 located in the first gap 1013 and the second piezoelectric actuator 102 located in the second gap 1014 are rotationally symmetrically arranged with a crossing center 104, wherein the crossing center 104 represents the center point of the intersection of the first rigid rotating member 1011 and the second rigid rotating member 1012. When the second piezoelectric actuator 102 located in the second gap 1014 and the first gap 1013 are rotationally symmetrically arranged, the second piezoelectric actuator 102 in the two gaps can achieve a better matching effect, so that the directions of the output displacements are matched, thereby enabling the driver to obtain better driving capability.

[0077] In an optional embodiment of the present invention, the first rigid rotating member 1011 is in the shape of an elongated strip, and the second rigid rotating member 1012 includes a first rigid portion in the shape of an elongated strip and a second rigid portion located at both ends of the first rigid portion, wherein the second rigid portion, the first rigid portion, and the first rigid rotating member 1011 form the first gap 1013 and the second gap 1014, wherein the second rigid portion is parallel to two opposite side surfaces of the first rigid rotating member 1011, and the two ends of the second piezoelectric actuator 102 are respectively connected to the two parallel side surfaces, so that when the rigid rotating member 1011 rotates, the second piezoelectric actuator 102 outputs a displacement, and the direction of the driving force provided by the displacement to the rigid rotating member 101 is along the tangential direction of the rotational circumference in the rotational motion, thereby being able to provide a better driving effect for the driver.

[0078] In an optional embodiment of the present invention, an elastic member 103 is disposed in the first gap 1013 and the second gap 1014 , and two ends of the elastic member 103 are respectively connected to the first rigid rotating member 1011 and the second rigid rotating member 1012 .

[0079] Reference Figure 6 As shown in , elastic members 103 are provided in the first gap 1013 and the second gap 1014. In the present embodiment, the elastic member 103 is a folding beam, and the two ends of the folding beam are respectively connected to the first rigid rotating member 1011 and the second rigid rotating member 1012, wherein the elastic member 103 can be fixedly connected to the first rigid rotating member 1011 and the second rigid rotating member 1012 through a connecting structure, or connected through integral molding, so that when the second piezoelectric actuator 102 drives the first rigid rotating member 1011 and the second rigid rotating member 1012 to rotate, based on the effect of the elastic member, on the one hand, the positioning of the first rigid rotating member 1011 and the second rigid rotating member 1012 is achieved, and at the same time, the rotational movement of the driver can be made smoother.

[0080] Optionally, the elastic member 103 located in the same gap matches the second piezoelectric actuator 102 , and is specifically arranged in parallel to correspond to the operation of the second piezoelectric actuator 102 , so as to achieve better position positioning and stability maintenance.

[0081] In an optional embodiment of the present invention, there are multiple clamping mechanisms 2 and multiple rotating drive mechanisms 1, at least one rotating drive mechanism 1 is suitable for driving the corresponding clamping mechanism 2 to rotate forward when power is supplied, and at least one rotating drive mechanism 1 is suitable for driving the corresponding clamping mechanism 2 to rotate reversely when power is supplied.

[0082] In this embodiment, refer to Figure 4 and 5As shown, two clamping mechanisms 2 are arranged in the sleeve 3, and each clamping mechanism 2 is connected to a rotating drive mechanism 1, so that each rotating drive mechanism 1 drives the corresponding clamping mechanism 2 to rotate, and drives the sleeve 3 to rotate when the clamping mechanism 2 clamps the sleeve 3, wherein, by controlling the power on and off of each clamping mechanism 2, the clamping mode of the sleeve 3 can be controlled, that is, controlling which clamping mechanism 2 the sleeve 3 is clamped by. In the two clamping mechanisms 2 and the rotating drive mechanism 1, one rotating drive mechanism 1 can drive the corresponding clamping mechanism 2 to rotate forward when powered on, and the other rotating drive mechanism 1 can drive the corresponding clamping mechanism 2 to rotate reversely when powered on, that is, when controlling different driving mechanisms 1 to operate, and controlling different clamping mechanisms 2 to clamp the sleeve 3, the clamping and rotation modes of the sleeve 3 can be made more diverse, so that the workpiece to be processed can be driven and processed more flexibly and reasonably, wherein the two rotating drive mechanisms 1 are controlled to rotate in opposite directions when powered on, which can be controlled by routing separate circuits for the two rotating drive mechanisms 1, or can be controlled based on the installation or structural design of the rotating drive mechanism 1, such as Figure 5 In the embodiment, the installation of the rotary drive mechanism 1 on one side is opposite to that of the rotary drive mechanism 1 on the other side, so that when the rotary drive mechanisms 1 are connected through a unified drive circuit and the second piezoelectric actuator 102 is energized, the second piezoelectric actuator 102 directly drives the two rotary drive mechanisms 1 to rotate in opposite directions.

[0083] Among them, each of the clamping mechanisms 2 can be connected to at least one of the rotating drive mechanisms 1, so as to control the rotation direction of the clamping mechanism 2 through multiple rotating drive mechanisms 1, and then control the driving direction of the driver, or each rotating drive mechanism 1 can be connected to multiple clamping mechanisms 2, so as to clamp or release through multiple clamping mechanisms 2 to ensure the clamping effect, and then ensure the driving effect of the driver.

[0084] In an optional embodiment of the present invention, the clamping portion 203 of the clamping mechanism of the sleeve 3 is suitable for abutting against the inner wall of the sleeve 3.

[0085] Reference Figure 4 and 5 As shown, in this embodiment, the driver includes a sleeve 3 and a rotation drive mechanism 1, wherein the rotation drive mechanism 1 is connected to the clamping mechanism 2 to drive the clamping mechanism 2 to rotate, wherein the clamping portion 203 of the clamping mechanism 2 is suitable for abutting against the inner wall of the sleeve 3, thereby achieving direct clamping of the sleeve 3. Based on the structure of the clamping mechanism 2 in the present invention, when the first piezoelectric actuator 2016 of the clamping mechanism 2 is powered off, the clamping portion 203 of the clamping mechanism 2 abuts against the inner wall of the sleeve 3, thereby clamping the sleeve 3, wherein it can be as shown Figure 5 and 7As shown, the clamping mechanism 2 is located inside the sleeve 3, so that the clamping part 203 of the clamping mechanism 2 is located inside the sleeve 3, and the integrity of the entire driver is stronger, so that the inner wall of the sleeve 3 can be abutted and clamped. When the clamping mechanism 2 rotates, the sleeve 3 moves at the same time to realize the driving operation of the driver. In addition, the clamping mechanism 2 can also adopt a partial structure located inside the sleeve 3 and a partial structure located outside the sleeve 3, so that when the clamping part 203 of the clamping mechanism 2 abuts and clamps the inner wall of the sleeve 3, specifically, part of the clamping part 203 can extend into the sleeve 3 to abut and clamp the inner wall thereof, so as to clamp the sleeve 3, and when the clamping mechanism 2 rotates, the sleeve 3 is driven to move at the same time to realize the driving operation of the driver, so that it can be suitable for some special scenarios, such as facilitating the replacement of the sleeve 3 and facilitating the driver. During installation and disassembly, after the first piezoelectric actuator 2016 of the clamping mechanism 2 is energized, the clamping portion 203 of the clamping mechanism 2 contracts into the sleeve 3, i.e., the sleeve 3 is released. Based on the rotational drive of the clamping mechanism 2 by the rotary drive mechanism 1, when the clamping mechanism 2 clamps the sleeve 3, the sleeve 3 can be driven to move simultaneously, thereby realizing the operation of the driver. The inner wall of the sleeve 3 is directly clamped by the clamping mechanism 2, so that there is no loss of clamping displacement, a larger clamping displacement can be output, sufficient clamping can be performed, and the operating stability of the driver is improved. At the same time, when the clamping mechanism 2 releases the sleeve 3, a larger release displacement can be guaranteed to prevent the gap between the clamping mechanism 2 and the sleeve 3 from being too small, resulting in friction between the sleeve 3 and the clamping mechanism 2, thereby preventing the driver from being damaged by friction and improving the service life of the driver.

[0086] In the clamping mechanism 2, when two or more output stabilizing mechanisms 202 and displacement amplifying mechanisms 201 are arranged around the main body 206, the clamping mechanism 2 has multiple displacement amplifying mechanisms 201 to ensure clamping displacement and release displacement. Accordingly, multiple clamping parts 203 can be distributed at at least two positions on the periphery of the clamping mechanism 2, and two clamping parts 203 are symmetrically arranged about the main body 206. When the clamping mechanism 2 is arranged in the sleeve 3 to clamp the inner wall of the sleeve 3, the multiple clamping parts 203 of the clamping mechanism 2 can abut against multiple areas of the inner wall of the sleeve 3, thereby enabling the clamping mechanism 2 to clamp the sleeve 3 more effectively, preventing friction caused by idling, and improving the stability of the drive operation.

[0087] Reference Fig.10 , which is a schematic diagram of voltage control when two clamping mechanisms 2 and two rotating drive mechanisms 1 are powered on in a specific embodiment of the present invention, corresponding to Figure 5 The drive structure in Figure 5 The clamping mechanism 2 on the left side of the middle is the left clamping mechanism, and the clamping mechanism 2 on the right side is the right clamping mechanism. Fig.10Among them, a refers to the power-on control of the right clamping mechanism, b refers to the power-on control of the two rotation drive mechanisms 1, and c refers to the power-on control of the left clamping mechanism, wherein the timing controls of abc correspond.

[0088] like Fig.10 As shown, in the time period t1, as in b, the second piezoelectric actuators 102 of the two rotation drive mechanisms 1 are powered off. At this time, as in c, the first piezoelectric actuator 2016 of the left clamping mechanism is powered off. At this time, the left side of the sleeve 3 of the driver is clamped, and the first piezoelectric actuator 2016 of the right clamping mechanism is powered on, so that the right side of the sleeve 3 is in a released state;

[0089] In the time period t2, the second piezoelectric actuators 102 of the two rotation drive mechanisms 1 are energized at the same time, and the rotation drive mechanism 1 corresponding to the right clamping mechanism rotates clockwise, i.e., forward rotation. Since the right clamping mechanism is in a released state, the right clamping mechanism is idle at this time, and the rotation drive mechanism 1 corresponding to the left clamping mechanism rotates counterclockwise, i.e., reverse rotation, driving the left clamping mechanism to rotate counterclockwise, and then driving the sleeve 3 to rotate counterclockwise;

[0090] In the time period t3, the first piezoelectric actuator 2016 of the right clamping mechanism is powered off so that the right side of the sleeve 3 is in a clamping state;

[0091] In the time period t4, the first piezoelectric actuator 2016 of the left clamping mechanism is energized, so that the left side of the sleeve 3 is in a released state;

[0092] In the time period t5, the second piezoelectric actuators 102 of the two rotary drive mechanisms 1 are simultaneously powered off. At this time, based on the output displacement change of the second piezoelectric actuator 102, the two rotary drive mechanisms 1 are reset and rotated. At this time, based on the clamping and release states of the two clamping mechanisms 2, the left rotary drive mechanism 1 returns to idle rotation clockwise, and the right rotary drive mechanism 1 drives the right clamping mechanism to rotate counterclockwise, thereby driving the sleeve 3 to rotate counterclockwise.

[0093] During the time period t6, the first piezoelectric actuator 2016 of the left clamping mechanism is powered off, so that the left side of the sleeve 3 is in a clamped state.

[0094] In this way, t1-t6 constitute the control period T of the entire driver. Repeating the voltage control of the period T can continuously drive the sleeve 3 to rotate counterclockwise, that is, reverse, and changing the power-on and power-off sequence of the second piezoelectric actuators 102 and the first piezoelectric actuators 2016 in the timing control can make the sleeve 3 rotate continuously clockwise, that is, forward. Therefore, through the corresponding settings of multiple rotating drive mechanisms 1 and clamping mechanisms 2, the operation of the driver can be controlled more conveniently, so that the processing using the driver can be more precise.

[0095] In an optional embodiment of the present invention, the clamping mechanism 2 is arranged inside the sleeve 3, and the corresponding rotation driving mechanism 1 is arranged on one side of the clamping mechanism 2 and connected to the clamping mechanism 2, and the side is the opening side at both ends of the sleeve 3, so as to perform corresponding driving of the clamping mechanism 2. Based on this, in an optional embodiment of the present invention, the driver also includes an end cover 4, and the end cover 4 is connected to the rotation driving mechanism 1 to fix and support the rotation driving mechanism 1. There are two corresponding ones of the clamping mechanism 2 and the rotation driving mechanism 1, and the two rotation driving mechanisms 1 are at the left and right openings of the sleeve 3. Based on this, the end cover 4 includes a left end cover and a right end cover to respectively connect and support the two rotation driving mechanisms 1.

[0096] Among them, the end cover 4 includes an end cover body 401, and a third connecting part 402 is arranged on the end cover body 401, and a fourth connecting part 106 is correspondingly arranged on the rotation drive mechanism 1, wherein the fourth connecting part 106 is specifically located on the rigid rotating part 101 of the rotation drive mechanism 1, and may include multiple screw holes or through hole structures, and the corresponding fourth connecting part 106 may include screw holes or through hole structures, and the position and number of the screw holes or through holes are consistent with the number and position of the screw holes or through holes on the rigid rotating part 101, so that the end cover body 401 and the rotation drive mechanism 1 are fixed by structures such as bolts or screws, that is, the end cover 4 and the rotation drive mechanism 1 are fixed.

[0097] In an optional embodiment of the present invention, a baffle 404 is provided on the end cover body 401, and the baffle 404 can fit with the outer periphery of the rotary drive mechanism 1 to protect the exposed part of the rotary drive mechanism 1 through the baffle 404 and the end cover body 401, so that the structure of the drive is more compact and the service life is longer.

[0098] Among them, refer to Fig. 9 As shown, the baffle 404 is a fan-shaped baffle and is arranged on the outer periphery of the end cover body 401 . The baffle 404 and the end cover body 401 enclose an installation space for installing the rotary drive mechanism 1 to protect the rotary drive mechanism 1 .

[0099] In an optional embodiment of the present invention, the end cover 4 also includes a base 403, which is connected to the end cover body 401 to support the entire driver, wherein screw holes and other structures may be provided on the base so that the driver can be adapted, installed, and fixed through the screw holes.

[0100] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A clamping mechanism, characterized in that: The invention comprises a main body (206), a displacement amplification mechanism (201) arranged on the main body (206), an output stabilization mechanism (202) and a clamping part (203), wherein the displacement output part (2011) of the displacement amplification mechanism (201) is connected to the clamping part (203); the output stabilization mechanism (202) comprises a first stabilization arm (2021) and a second stabilization arm (2023), one end of the first stabilization arm (2021) and the second stabilization arm (2023) are connected to the clamping part (203), and the other ends of the first stabilization arm (2021) and the second stabilization arm (2023) are connected to the clamping part (203). The main body (206) is provided, the first stabilizing arm (2021) and the second stabilizing arm (2023) are symmetrically arranged relative to the clamping part (203); the displacement amplifying mechanism (201) comprises a first displacement amplifying arm (2013), a second displacement amplifying arm (2014), a first piezoelectric actuator (2016) and the displacement output part (2011), one end of the first displacement amplifying arm (2013) and the second displacement amplifying arm (2014) are connected to the displacement output part (2011), and the other end of the first displacement amplifying arm (2013) and / or the second displacement amplifying arm (2014) is connected to the displacement output part (2011). The first end of the first stabilizing arm (2021) is connected to the first piezoelectric actuator (2016), the first displacement amplifying arm (2013) and the second displacement amplifying arm (2014) are symmetrically arranged relative to the clamping portion (203); the first piezoelectric actuator (2016) is located between the first displacement amplifying arm (2013) and the second displacement amplifying arm (2014), and the two ends of the first piezoelectric actuator (2016) are respectively connected to the first displacement amplifying arm (2013) and the second displacement amplifying arm (2014); the minimum width of the cross section of the first stabilizing arm (2021) is greater than that of the first displacement amplifying arm (2013); 13) has a minimum cross-sectional width; the main body (206) is connected to a plurality of the output stabilizing mechanisms (202), the plurality of the output stabilizing mechanisms (202) are arranged rotationally symmetrically relative to the center of the main body (206), an accommodation space (207) is enclosed between the output stabilizing mechanisms (202) and the main body (206), the displacement amplifying mechanisms (201) are arranged in the accommodation space (207), and the displacement amplifying mechanisms (201) are suitable for outputting a release displacement toward the center direction of the main body (206), and suitable for outputting a clamping displacement away from the center direction of the main body (206).

2. The clamping mechanism according to claim 1, characterized in that: One end of the first displacement amplifying arm (2013) away from the clamping portion (203) abuts against the output stabilizing mechanism (202) via a pre-tightening member (205), and / or one end of the second displacement amplifying arm (2014) away from the clamping portion (203) abuts against the output stabilizing mechanism (202) via a pre-tightening member (205).

3. The clamping mechanism according to claim 2, characterized in that: The main body (206) is provided with a first connecting portion (2061), and the first connecting portion (2061) is suitable for connecting to the rotation driving mechanism (1).

4. A driver, characterized in that: It comprises the clamping mechanism described in any one of claims 1 to 3.

5. The driver according to claim 4, characterized in that: It also comprises a rotation driving mechanism (1), wherein the rotation driving mechanism (1) is suitable for driving the clamping mechanism to rotate.

6. The driver according to claim 5, characterized in that: The rotation drive mechanism (1) comprises a rigid rotating member (101) and a second piezoelectric actuator (102) fixedly connected to the rigid rotating member (101), the second piezoelectric actuator (102) being suitable for driving the rigid rotating member (101) to rotate, and a second connecting portion (105) being provided on the rigid rotating member (101), the second connecting portion (105) being fixedly connected to a first connecting portion (2061) of the clamping mechanism.

7. The driver according to claim 6, characterized in that: The rigid rotating member (101) comprises a first rigid rotating member (1011) and a second rigid rotating member (1012) which are arranged crosswise, a first gap (1013) and a second gap (1014) are formed between the first rigid rotating member (1011) and the second rigid rotating member (1012), the second piezoelectric actuator (102) is arranged in the first gap (1013) and the second gap (1014), and two ends of the second piezoelectric actuator (102) are respectively connected to the first rigid rotating member (1011) and the second rigid rotating member (1012).

8. The driver according to claim 7, characterized in that: An elastic member (103) is disposed in the first gap (1013) and the second gap (1014), and two ends of the elastic member (103) are respectively connected to the first rigid rotating member (1011) and the second rigid rotating member (1012).

9. The driver according to claim 7, characterized in that: The second piezoelectric actuator (102) located in the first gap (1013) and the second piezoelectric actuator (102) located in the second gap (1014) are arranged rotationally symmetrically with respect to a cross center (104), wherein the cross center (104) represents the center point of the intersection of the first rigid rotating member (1011) and the second rigid rotating member (1012).

10. The driver according to claim 5, characterized in that: There are multiple clamping mechanisms and multiple rotation drive mechanisms (1), at least one of the rotation drive mechanisms (1) is suitable for driving the corresponding clamping mechanism to rotate forward when powered on, and at least one of the rotation drive mechanisms (1) is suitable for driving the corresponding clamping mechanism to rotate reversely when powered on.

11. The driver according to any one of claims 4 to 10, characterized in that: The sleeve (3) also includes a clamping portion (203) of the clamping mechanism adapted to abut against an inner wall of the sleeve (3).

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