Displacement amplification mechanism and device

Abstract

The application relates to a displacement amplification mechanism and device, which comprises a first fixed module, a second fixed module, a first moving module and a second moving module; the first moving module is movably connected with the first fixed module and the second fixed module respectively; the second moving module is movably connected with the first fixed module and the second fixed module respectively; when the relative distance between the first fixed module and the second fixed module changes along a first direction, the relative displacement between the first moving module and the second moving module changes along a second direction, and the first direction and the second direction are perpendicular. The displacement amplification mechanism provided by the application can adjust the output displacement, and has high applicability.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and in particular to a displacement amplification mechanism and device. Background Technology

[0002] With the development of mechanical manufacturing technology, pipeline robots are widely used. Pipeline robots are usually equipped with displacement amplification mechanisms and can be used in fields such as endoscopy and pipeline flaw detection for detection and treatment.

[0003] From the perspective of driving method, displacement amplification mechanisms can be divided into passively driven and actively driven types. Passively driven mechanisms use external forces to drive the structural components, while actively driven mechanisms use an internal driving system. The driving modes of displacement amplification mechanisms can include piezoelectric amplification, shape memory alloy amplification, electromagnetic amplification, and other micro-displacement driving modes. Existing displacement amplification mechanisms mainly fall into three categories: lever amplification, triangular amplification, and buckling amplification, as well as various combinations of these three categories.

[0004] However, the existing displacement amplification mechanisms output a fixed displacement that cannot be adjusted, resulting in poor applicability. Summary of the Invention

[0005] Therefore, it is necessary to provide a displacement amplification mechanism and device to address the aforementioned technical problems.

[0006] In a first aspect, one embodiment of this application provides a displacement amplification mechanism, which includes a first fixed module, a second fixed module, a first movable module, and a second movable module;

[0007] The first movable module is movably connected to the first fixed module and the second fixed module respectively;

[0008] The second movable module is movably connected to the first fixed module and the second fixed module, respectively;

[0009] Specifically, when the relative distance between the first fixed module and the second fixed module changes along the first direction, the relative displacement between the first moving module and the second moving module changes along the second direction; the first direction is perpendicular to the second direction.

[0010] In one embodiment, the displacement amplification mechanism further includes:

[0011] A drive module, disposed between the first fixed module and the second fixed module, is used to provide driving force to cause relative displacement between the first moving module and the second moving module.

[0012] In one embodiment, the displacement amplification mechanism further includes:

[0013] The limiting module is connected to both the first fixed module and the second fixed module, and is used to limit the relative movement of the first fixed module and the second fixed module along the first direction.

[0014] In one embodiment, the first movable module is movably connected to both the first end of the first fixed module and the first end of the second fixed module;

[0015] The second movable module is movably connected to both the second end of the first fixed module and the second end of the second fixed module.

[0016] In one embodiment, the first movable module includes a first link, a second link, and a third link that are movably connected in sequence. The end of the first link away from the second link is connected to the first end of the first fixed module, and the end of the third link away from the second link is connected to the first end of the second fixed module. The length direction of the second link is parallel to the first direction.

[0017] The second movable module includes a fourth link, a fifth link, and a sixth link that are movably connected in sequence. The end of the fourth link away from the fifth link is connected to the second end of the first fixed module. The end of the sixth link away from the fifth link is connected to the second end of the second fixed module. The length direction of the fifth link is parallel to the second link.

[0018] In one embodiment, the first moving module and the second moving module have the same shape; the size of the first moving module and the size of the second moving module are set proportionally.

[0019] In one embodiment, the drive module includes a piezoelectric actuator.

[0020] Secondly, one embodiment of this application also provides a displacement amplification device, which includes a plurality of displacement amplification mechanisms as provided in the first aspect above, wherein the plurality of displacement amplification mechanisms are arranged in series and / or in parallel.

[0021] In one embodiment, when multiple displacement amplification mechanisms are connected in series, the moving modules of the multiple displacement amplification mechanisms along the second direction are connected end to end.

[0022] In one embodiment, when multiple displacement amplification mechanisms are arranged in parallel, the moving modules of the multiple displacement amplification mechanisms along the first direction are connected end to end.

[0023] This application provides a displacement amplification mechanism and device. The displacement amplification mechanism includes a first fixed module, a second fixed module, a first movable module, and a second movable module. The first movable module is movably connected to both the first and second fixed modules. The second movable module is also movably connected to both the first and second fixed modules. When the relative distance between the first and second fixed modules changes along a first direction, the relative movement between the first and second movable modules changes along a second direction, and the first and second directions are perpendicular. The relative displacement between the first and second movable modules in the displacement amplification mechanism provided in this embodiment, i.e., the displacement that the displacement amplification mechanism can output, changes with the relative distance between the first and second fixed modules. In other words, the output displacement of the displacement amplification mechanism provided in this embodiment is adjustable, and users can adjust it according to their actual needs, making it highly adaptable. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of an inchworm-like bionic robot provided for one embodiment;

[0026] Figure 2 A schematic diagram illustrating the working principle of an inchworm-like bionic robot provided for one embodiment;

[0027] Figure 3 A schematic diagram illustrating the operating mode of a displacement amplification mechanism provided in one embodiment;

[0028] Figure 4 A schematic diagram of the displacement amplification mechanism provided in one embodiment;

[0029] Figure 5 A schematic diagram of the displacement amplification mechanism provided for another embodiment;

[0030] Figure 6 A schematic diagram of the displacement amplification mechanism provided for another embodiment;

[0031] Figure 7 A schematic diagram of the displacement amplification mechanism in its initial state according to one embodiment;

[0032] Figure 8 A schematic diagram of the structure after the displacement output by the displacement amplification mechanism changes, provided in one embodiment;

[0033] Figure 9 A schematic diagram of the displacement amplification device provided in one embodiment;

[0034] Figure 10 A schematic diagram of the displacement amplification device provided for another embodiment;

[0035] Figure 11 A schematic diagram of the displacement amplification device provided for another embodiment;

[0036] Figure 12 A schematic diagram of the displacement amplification device provided for another embodiment;

[0037] Figure 13 A schematic diagram of the displacement amplification mechanism provided for another embodiment;

[0038] Figure 14 A schematic diagram of the displacement amplification device provided for another embodiment;

[0039] Figure 15 A schematic diagram of the displacement amplification device provided for another embodiment;

[0040] Explanation of reference numerals in the attached figures:

[0041] 10. Displacement amplification mechanism; 100. First fixed module; 110. First end of the first fixed module; 120. Second end of the first fixed module; 200. Second fixed module; 210. First end of the second fixed module; 220. Second end of the second fixed module; 300. First moving module; 310. First connecting rod; 320. Second connecting rod; 330. Third connecting rod; 400. Second moving module; 410. Fourth connecting rod; 420. Fifth connecting rod; 430. Sixth connecting rod; 500. Drive module; 600. Limiting module. Detailed Implementation

[0042] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0043] The serial numbers assigned to components in this document, such as "first" and "second," are used solely to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used solely for the convenience of describing this application and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] With the development of mechanical manufacturing technology, displacement amplification mechanisms are used as driving elements to provide power for artificial muscles, pipeline inspection robots, ultra-precision machining equipment, and ultrasonic transducers. Pipeline inspection robots can be used for detection and treatment in fields such as endoscopy and pipeline flaw detection. The following explanation uses the application of displacement amplification mechanisms in pipeline inspection robots as an example.

[0046] From the perspective of the driving method, displacement amplification mechanisms can be divided into passively driven and actively driven types. Passively driven mechanisms use external forces to drive the structural components, such as the insertion tube of a gastrointestinal endoscope. Passively driven mechanisms have a simple structure but cannot achieve precise operation, resulting in a poor user experience. Actively driven mechanisms use an internal drive system to drive the structural components. Actively driven mechanisms allow for precise operation but have a complex structure. For example... Figure 1 The inchworm-like bionic robot shown includes a front clamping mechanism, a rear clamping mechanism, and a torso between the two mechanisms. The working principle of this inchworm-like bionic robot is as follows: Figure 2 As shown, Figure 2The vertical rectangle closer to the right in the middle represents the front clamping mechanism, the vertical rectangle closer to the left represents the rear clamping mechanism, the horizontal rectangle in the middle represents the torso, the longer vertical rectangle represents the clamping mechanism clamping, and the shorter vertical rectangle represents the clamping mechanism loosening. Figure 2 (1) The front clamping mechanism relaxes, the torso remains still, and the rear clamping mechanism clamps; (2) The front clamping mechanism moves forward, the torso extends, and the rear clamping mechanism clamps; (3) The front clamping mechanism clamps, the torso remains still, and the rear clamping mechanism clamps; (4) The front clamping mechanism clamps, the torso remains still, and the rear clamping mechanism relaxes; (5) The front clamping mechanism clamps, the torso contracts, and the rear clamping mechanism follows; (6) The front clamping mechanism clamps, the torso remains still, and the rear clamping mechanism clamps; After the above 6 steps, in one action cycle, the head of the inchworm-like bionic robot moves forward by e, and the tail moves forward by f. e and f are equal, which is the distance that the inchworm-like bionic robot can move.

[0047] The driving modes of the drive system for actively driven displacement amplification mechanisms can include piezoelectric drive, shape memory alloy, pneumatic, electromagnetic drive, and micro-motor drive. Among them, piezoelectric drive based on the inverse piezoelectric effect of piezoelectric materials is widely used due to its advantages of small size, good linearity, and high resolution. However, existing piezoelectric ceramic actuators have relatively small displacements. For example, a 45mm long piezoelectric ceramic actuator with a 100V voltage excitation only produces a displacement output of about 20 micrometers, which limits its application range.

[0048] The existing displacement amplification mechanisms mainly operate in the following modes: Figure 3 The diagram shows three main categories of amplification: lever amplification, triangular amplification, and buckling amplification, as well as various combinations of these three categories. Figure 3 In existing displacement amplification mechanisms, the left arrow represents the input driving force, and the right arrow represents the output displacement; in triangular amplification, two horizontally opposite arrows represent the input driving force, and the vertical arrow represents the output displacement; in buckling amplification, two superimposed rectangular blocks generate the driving force, and the vertical arrow represents the output displacement. However, the displacement amplification distance and driving force output of existing displacement amplification mechanisms are fixed and cannot be adjusted, resulting in poor practicality. Therefore, this application provides a displacement amplification mechanism.

[0049] The technical solution of this application and how it solves the technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0050] Please see Figure 4One embodiment of this application provides a displacement amplification mechanism 10, which includes a first fixed module 100, a second fixed module 200, a first movable module 300, and a second movable module 400. The structure and materials used in the first fixed module 100 and the second fixed module 200 may be the same or different; this embodiment does not impose any limitations on this. Similarly, the structure and shape of the first movable module 300 and the second movable module 400 may be the same or different; this embodiment does not impose any limitations on this either.

[0051] Optionally, the first fixing module 100 and the second fixing module 200 have the same structure, which can be a cylindrical structure, a cubic structure, or other irregular three-dimensional structures. Furthermore, the first fixing module 100 and the second fixing module of various structures can be solid, hollow, or hollow with one end open.

[0052] The first movable module 300 is movably connected to the first fixed module 100 and the second fixed module 200, respectively. The first movable module 300 includes two connection ends. One connection end of the first movable module 300 is movably connected to the first fixed module 100, and the other connection end of the first movable module 300 is movably connected to the second fixed module 200.

[0053] The second movable module 400 is movably connected to the first fixed module 100 and the second fixed module 200, respectively. The second movable module 400 includes two connection ends, one connection end of the second movable module 400 is movably connected to the first fixed module 100, and the other connection end of the second movable module 400 is movably connected to the second fixed module 200.

[0054] A movable connection refers to a connection in which the components, after being connected, can maintain relative movement. That is, one end of the first movable module 300 can maintain relative movement with the first fixed module 100, and the other end of the first movable module 300 can maintain relative movement with the second fixed module 200. Similarly, one end of the second movable module 400 can maintain relative movement with the first fixed module 100, and the other end of the second movable module 400 can maintain relative movement with the second fixed module 200.

[0055] Optionally, the movable connection between the first movable module 300 and the first fixed module 100 and the second fixed module 200 can be a hinge connection or a bearing connection, etc.

[0056] When the relative distance between the first fixed module 100 and the second fixed module 200 changes along the first direction, the relative displacement between the first moving module 300 and the second moving module 400 changes along the second direction; the first direction is perpendicular to the second direction.

[0057] Since the first movable module 300 is movably connected to the first fixed module 100 and the second fixed module 200, and the second movable module 400 is also movably connected to the first fixed module 100 and the second fixed module 200, when the relative distance between the first fixed module 100 and the second fixed module 200 changes along the first direction, the relative displacement between the first movable module 300 and the second movable module 400 will change along the second direction as the relative distance between the first fixed module 100 and the second fixed module 200 changes. The first direction and the second direction are perpendicular to each other.

[0058] Assuming the first direction is vertical and the second direction is horizontal, the relative distance between the first fixed module 100 and the second fixed module 200 changes vertically, causing the relative displacement between the first moving module 300 and the second moving module 400 to change horizontally. Specifically, if the upper fixed module in the first fixed module 100 and the lower fixed module 200 moves upward and downward, the relative distance between the first fixed module 100 and the second fixed module 200 increases, and the relative displacement between the first moving module 300 and the second moving module 400 increases horizontally; conversely, if the upper fixed module in the first fixed module 100 and the lower fixed module 200 moves downward and upward, the relative distance between the first fixed module 100 and the second fixed module 200 decreases, and the relative displacement between the first moving module 300 and the second moving module 400 decreases horizontally.

[0059] The working principle of the displacement amplification mechanism 10 provided in this application embodiment is as follows:

[0060] Obtain the preset distance that the displacement amplification mechanism 10 can move, and increase the relative distance between the first fixed module 100 and the second fixed module 200 according to the preset distance, so that the relative displacement between the first moving module 300 and the second moving module 400 reaches the required distance, so that the displacement amplification mechanism 10 can move the preset distance.

[0061] The displacement amplification mechanism 10 provided in this embodiment includes a first fixed module 100, a second fixed module 200, a first movable module 300, and a second movable module 400. The first movable module 300 is movably connected to both the first fixed module 100 and the second fixed module 200. The second movable module 400 is also movably connected to both the first fixed module 100 and the second fixed module 200. When the relative distance between the first fixed module 100 and the second fixed module 200 changes along a first direction, the relative movement between the first movable module 300 and the second movable module 400 changes along a second direction, and the first and second directions are perpendicular. The relative displacement between the first movable module 300 and the second movable module 400 in the displacement amplification mechanism 10 provided in this embodiment, i.e., the displacement that the displacement amplification mechanism 10 can output, changes with the relative distance between the first fixed module 100 and the second fixed module 200. In other words, the output displacement of the displacement amplification mechanism 10 provided in this embodiment is adjustable, and users can adjust it according to their actual needs, making it highly adaptable.

[0062] In one embodiment, such as Figure 5 As shown, the displacement amplification mechanism 10 also includes a drive module 500. The drive module 500 is disposed between the first fixed module 100 and the second fixed module 200, and is used to provide driving force to cause the first moving module 300 and the second moving module 400 to generate relative displacement.

[0063] The drive module 500 is the drive structure of the displacement amplification mechanism 10 in this embodiment. The drive module 500 is disposed between the first fixed module 100 and the second fixed module 200. The drive module 500 provides driving force, causing a relative displacement between the first moving module 300 and the second moving module 400, i.e., a change in the distance between the first moving module 300 and the second moving module 400, thereby causing the displacement amplification mechanism 10 to move. Once the relative distance between the first fixed module 100 and the second fixed module 200 of the displacement amplification mechanism 10 is determined, only the drive module 500 will undergo expansion and contraction deformation during the operation of the displacement amplification mechanism 10; other components in the displacement amplification mechanism 10 will not deform.

[0064] In one embodiment, when both the first fixed module 100 and the second fixed module 200 are hollow cubic structures with one open end, one end of the drive module 500 is disposed on the inner wall of the first fixed module 100, and the other end of the drive module 500 is disposed on the inner wall of the second fixed module 200. In this embodiment, disposing of the drive module 500 on the inner walls of the first fixed module 100 and the second fixed module 200 better enables the connection between the drive module 500 and the first fixed module 100 and the second fixed module 200, ensuring the normal operation of the drive module 500.

[0065] In one embodiment, the drive module 500 includes a piezoelectric actuator. The piezoelectric actuator comprises a piezoelectric material and utilizes the inverse piezoelectric effect to convert electrical energy into mechanical energy, driving the first moving module 300 and the second moving module 400 to produce relative movement. The use of a drive module 500 including a piezoelectric actuator in this embodiment results in a small size, good linearity, and high resolution.

[0066] In another embodiment, the drive module 500 includes shape memory merging or magnetostriction, etc.

[0067] Please continue reading Figure 5 In one embodiment, the displacement amplification mechanism 10 further includes a limiting module 600.

[0068] The limiting module 600 is connected to both the first fixed module 100 and the second fixed module 200, and is used to limit the relative movement of the first fixed module 100 and the second fixed module 200 along a first direction. The limiting module 600 includes two connecting ends; one connecting end of the limiting module 600 is connected to the first fixed module 100, and the other connecting end of the limiting module 600 is connected to the second fixed module 200. This embodiment does not limit the specific structure of the limiting module 600, nor the connection method between the limiting module 600 and the first fixed module 100 and the second fixed module 200, as long as its function can be achieved.

[0069] In this embodiment, by limiting the first fixed module 100 and the second fixed module 200 together by the limiting module 600, it is possible to prevent the first fixed module 100 and the second fixed module 200 from moving in different directions, thereby ensuring that the first fixed module 100 and the second fixed module 200 can generate accurate relative movement.

[0070] In an optional embodiment, the limiting module 600 may be a track extending in a first direction, with the first fixing module 100 and the second fixing module 200 disposed on the track, and the first fixing module 100 and the second fixing module 200 being able to move relative to each other along the track in the first direction.

[0071] In one embodiment, see Figure 6 The first fixed module 100 includes a first end 110 and a second end 120 of the first fixed module, and the second fixed module 200 also includes a first end 210 and a second end 220 of the second fixed module.

[0072] The specific connection methods between the first movable module 300, the first fixed module 100, and the second fixed module 200, and the connection methods between the second movable module 400, the first fixed module 100, and the second fixed module 200 include: the first movable module 300 is movably connected to the first end 110 of the first fixed module and the first end 210 of the second fixed module. The second movable module 400 is movably connected to the second end 120 of the first fixed module and the second end 210 of the second fixed module. A description of the movable connections can be found in the specific descriptions in the above embodiments, and will not be repeated here.

[0073] like Figure 6 As shown, when the first fixed module 100 is a hollow cube structure with one open end, the first end 110 of the first fixed module is one end of the cube structure with an opening, and the second end 120 of the first fixed module is the other end of the cube structure with an opening. When the second fixed module 200 is also a hollow cube structure with one open end, the first end 210 of the second fixed module is one end of the cube structure with an opening, and the second end 220 of the second fixed module is the other end of the cube structure with an opening. The first end 110 of the first fixed module and the first end 210 of the second fixed module are both located on the side closer to the first moving module 300, and the second ends 120 of the first fixed module and the second end 220 of the second fixed module are both located on the side closer to the second moving module 400.

[0074] Please continue reading Figure 6 In one embodiment, the first movable module 300 includes a first link 310, a second link 320, and a third link 330 that are sequentially movably connected. The end of the first link 310 away from the second link 320 is connected to the first end 110 of the first fixed module, and the end of the third link 330 away from the second link 320 is connected to the first end 210 of the second fixed module 200. The length direction of the second link 320 is parallel to the first direction.

[0075] The second link 320 connects the first link 310 and the third link 330. The end of the first link 310 furthest from the second link 320 is the end where the first moving module 300 connects to the first end 110 of the first fixed module 100. The end of the third link 330 furthest from the second link 320 is the end where the first moving module 300 connects to the second end 120 of the first fixed module. Assuming the first direction is vertical, the length direction of the second link 320 is parallel to the first direction; that is, the second link 320 is perpendicular to the ground.

[0076] The second movable module 400 includes a fourth link 410, a fifth link 420, and a sixth link 430 that are sequentially movably connected. The end of the fourth link 410 away from the fifth link 420 is connected to the second end 120 of the first fixed module, and the end of the sixth link 430 away from the fifth link 420 is connected to the second end 220 of the second fixed module 200. The length direction of the fifth link 420 is parallel to that of the second link 420.

[0077] The fifth link 420 connects the fourth link 410 and the sixth link 430. The end of the fourth link 410 furthest from the fifth link 420 is the end where the second moving module 400 connects to the second end 120 of the first fixed module. The end of the sixth link 430 furthest from the fifth link 420 is the end where the second moving module 400 connects to the second end 220 of the second fixed module 200. Assuming the first direction is vertical, the length direction of the fifth link 420 is parallel to the second link 320, and the length direction of the fifth link 420 is parallel to the first direction. Therefore, the fifth link 420 is perpendicular to the ground.

[0078] Optionally, the connecting rods in the first moving module 300 and the second moving module 400 can be cylindrical or rectangular; the materials used for the connecting rods in the first moving module 300 and the second moving module 400 can be metal, and this embodiment does not limit this.

[0079] The first moving module 300 and the second moving module 400 provided in this embodiment have simple structures and are easy to manufacture. Furthermore, by arranging the second link 320 and the fifth link 420 parallel to the first direction, it is possible to ensure that the first moving module 300 and the second moving module 400 can move in the second direction.

[0080] In one embodiment, the first movable module 300 and the second movable module 400 have the same shape; the size of the first movable module 300 and the size of the second movable module 400 are set proportionally.

[0081] The shapes of the first moving module 300 and the second moving module 400 can both be Figure 6 The trapezoidal structure described herein. The ratio between the size of the first moving module 300 and the size of the second moving module 400 can be 1:1, that is, the size of the first moving module 300 and the size of the second moving module 400 are the same. The ratio between the size of the first moving module 300 and the size of the second moving module 400 can be 1:n, where n is a positive integer greater than 1.

[0082] In this embodiment, the first moving module 300 and the second moving module 400 have the same structure, making them easy to manufacture. The size of the first moving module 300 and the second moving module 400 can be selected by the operator according to actual needs, which improves the practicality of the displacement amplification mechanism 10.

[0083] In an optional embodiment, the initial state of the displacement amplification mechanism 10 is as follows: Figure 7 As shown, the state of the displacement amplification mechanism 10 after the relative distance between the first fixed module 100 and the second fixed module 200 in the displacement amplification mechanism 10 changes, and the relative displacement between the first moving module 300 and the second moving module 400 changes, is as follows: Figure 8 As shown.

[0084] In one specific embodiment, in the initial state, the displacement amplification mechanism 10 has the following relative distances: the first fixed module 100 and the second fixed module 200 are l3, the first moving module 300 and the second moving module 400 are h, the length of the second link 320 of the first moving module 300 or the fifth link 420 of the second moving module 400 is l1, the lengths of the first link 310 and the third link 330 of the first moving module 300, and the lengths of the fourth link 410 and the sixth link 430 of the second moving module 400 are all l2, l2 = 0.5l1, the increase in the relative distance between the first fixed module 100 and the second fixed module 200 is Δh, and the increase in the relative displacement between the first moving module 300 and the second moving module 400 is Δl3.

[0085] Assuming l3 = 0, the geometric relationship in the displacement amplification mechanism 10 can be expressed as: From this geometric relationship, it can be seen that when Δl3 approaches 0, l1 / Δl3 >> 1 / 4, and at this time, Δh / Δl3 >> 1, and the displacement amplification mechanism 10 can output a displacement approaching +∞. However, in practical applications, due to assembly and material stiffness reasons, the assumptions of l3 = 0 and l2 = 0.5l1 are only ideal conditions and cannot be achieved in actual scenarios.

[0086] Assuming l3 ≠ 0, the displacement amplification mechanism 10 has the following geometric relationship:

[0087]

[0088] After the relative distance between the first fixed module 100 and the second fixed module 200 increases by Δl3, and the relative displacement between the first moving module 300 and the second moving module 400 increases by Δh, the geometric relationship of the displacement amplification mechanism 10 is as follows: This geometric relationship can be transformed into The higher-order small quantity Δh on the left side of the equation in the converted geometric relationship 2 and the higher-order small quantity on the right side of the equation are eliminated, the formula can be obtained It can be seen from this formula that after the structure and size of the displacement amplification mechanism 10 are fixed, the displacement output by the displacement amplification mechanism 10 can be adjusted by changing the relative distance Δh between the first fixed module 100 and the second fixed module 200. To achieve the purpose of increasing the displacement of the displacement amplification mechanism 10, that is, Δh / Δl3>1, in the initial state, the relative distance l3 between the first fixed module 100 and the second fixed module 200 needs to satisfy 0<l3<(2l1-4h). The smaller l3 is within the allowable range, the larger the displacement that the displacement amplification mechanism 10 can output.

[0089] An embodiment of the present application provides a displacement amplification device, which includes a plurality of the displacement amplification mechanisms 10 provided in the above embodiments, and the plurality of displacement amplification mechanisms 10 are arranged in series and / or in parallel. The plurality of displacement amplification mechanisms 10 in the displacement amplification device may be arranged in series; may also be arranged in parallel; and may also be arranged both in parallel and in series.

[0090] The displacement amplification device provided in this embodiment includes the displacement amplification mechanism 10 provided in the above embodiments, so the displacement amplification device has all the beneficial effects of the displacement amplification mechanism 10, which will not be repeated here. In addition, through the series connection of the plurality of displacement amplification mechanisms 10, the displacement output by the displacement amplification device can be further increased, that is, the linear superposition of the output displacement of each displacement amplification mechanism 10 is realized; through the parallel connection of the plurality of displacement amplification mechanisms 10, the driving force of the displacement amplification device can be further increased, that is, the linear superposition of the driving force of each displacement amplification mechanism 10 is realized.

[0091] In one embodiment, as shown in Figure 9 , when a plurality of displacement amplification mechanisms 10 are arranged in series, the moving modules of the plurality of displacement amplification mechanisms 10 along the second direction are connected end to end. The second direction is the direction in which the relative displacement between the first moving module 300 and the second moving module 400 of each displacement amplification mechanism 10 changes. Specifically, of two adjacent displacement amplification mechanisms 10 along the second direction among the plurality of displacement amplification mechanisms 10, the second moving module 400 of one displacement amplification mechanism 10 is connected to the first moving module 300 or the second moving module 400 of the other displacement amplification mechanism 10. That is, the connecting rod perpendicular to the second direction in the first moving module 400 of one displacement amplification mechanism 10 is fixedly connected to the connecting rod perpendicular to the second direction in the first moving module 300 or the second moving module 400 of the other displacement amplification mechanism 10.

[0092] In an optional embodiment, in the horizontal direction (second direction), among two adjacent displacement amplification mechanisms 10 (first displacement amplification mechanism and second displacement amplification mechanism), the second moving module 400 of the first displacement amplification mechanism (moving module near the second displacement amplification mechanism) is connected to the first moving module 300 of the second displacement amplification mechanism (moving module near the first displacement amplification mechanism).

[0093] The second moving module 400 of the first displacement amplification mechanism includes a fourth link 410, a fifth link 420, and a sixth link 430 connected in sequence. The first moving module 300 of the second displacement amplification mechanism includes a first link 310, a second link 320, and a third link 330 connected in sequence. When the first and second displacement amplification mechanisms are connected in series, the fifth link 420 of the first displacement amplification mechanism is fixedly connected to the second link 320 of the second displacement amplification mechanism. Optionally, one end of the first displacement amplification mechanism connected to the fourth link 410 and the fifth link 420 is connected to one end of the second displacement amplification mechanism connected to the first link 310 and the second link 320, and one end of the first displacement amplification mechanism connected to the fifth link 420 and the sixth link 430 is connected to one end of the second displacement amplification mechanism connected to the second link 320 and the third link 330.

[0094] If the displacement amplification device includes two displacement amplification mechanisms 10 connected in series, compare Figure 9 and Figure 10 The relative distance between the two fixed modules can be seen Figure 10 The increase in the relative distance between the first fixed module 100 and the second fixed module 200 of the displacement amplification mechanism 10 increases the relative displacement between the first moving module 300 and the second moving module 400 by Δh. Thus, the two displacement amplification mechanisms 10 arranged in series can linearly superimpose the relative displacement between the first moving module 300 and the second moving module 400 in each displacement amplification mechanism 10, i.e., 2Δh, thereby realizing the linear superposition of the output displacement of each displacement amplification mechanism 10, that is, increasing the output displacement of the displacement amplification device.

[0095] In one embodiment, such as Figure 11As shown, when multiple displacement amplification mechanisms 10 are arranged in parallel, the moving modules of the multiple displacement amplification mechanisms 10 along the first direction are connected end to end. The first direction is the direction in which the relative distance between the first fixed module 100 and the second fixed module 200 of each displacement amplification mechanism 10 changes. Specifically, among the multiple displacement amplification mechanisms 10, two adjacent displacement amplification mechanisms along the first direction are connected such that the first moving module 300 of one displacement amplification mechanism 10 is connected to the first moving module 300 (second moving module 400) of the other displacement amplification mechanism 10, and the second moving module 400 of one displacement amplification mechanism 10 is connected to the second moving module 400 (first moving module 300) of the other displacement amplification mechanism 10.

[0096] In an optional embodiment, in the vertical direction (first direction), among two adjacent displacement amplification mechanisms 10 (the third displacement amplification mechanism and the fourth displacement amplification mechanism), the first moving module 300 of the third displacement amplification mechanism is connected to the first moving module 300 of the fourth displacement amplification mechanism, and the second moving module 400 of the third displacement amplification mechanism is connected to the second moving module 400 of the fourth displacement amplification mechanism. The first moving modules 300 of the third displacement amplification mechanism and the first moving modules 300 of the fourth displacement amplification mechanism are oriented in the same direction and are both located to the right of the displacement amplification mechanism; the second moving modules 400 of the third displacement amplification mechanism and the second moving modules 400 of the fourth displacement amplification mechanism are oriented in the same direction and are both located to the left of the displacement amplification mechanism.

[0097] The second moving module 400 of the third displacement amplification mechanism includes a fourth link 410, a fifth link 420, and a sixth link 430 connected in sequence. The first moving module 300 of the fourth displacement amplification mechanism includes a first link 310, a second link 320, and a third link 330 connected in sequence. When the third and fourth displacement amplification mechanisms are connected in parallel, the fifth link 320 of the third displacement amplification mechanism is fixedly connected to the second link 320 of the fourth displacement amplification mechanism. Optionally, one end of the first link 310 and the second link 320 of the third displacement amplification mechanism is connected to one end of the second link 320 and the third link 330 of the fourth displacement amplification mechanism, and one end of the fourth link 410 and the fifth link 420 of the third displacement amplification mechanism is connected to one end of the fifth link 420 and the sixth link 430 of the fourth displacement amplification mechanism.

[0098] If the displacement amplification device includes two parallel displacement amplification mechanisms 10, such as Figure 12 As shown, assuming the driving force of a displacement amplification mechanism 10 is F, the driving force of the displacement amplification device after connecting two displacement amplification mechanisms 10 in parallel is 2F, realizing the linear superposition of the driving forces of each displacement amplification mechanism 10.

[0099] In an optional embodiment, the ratio between the size of the first moving module 300 and the size of the second moving module 400 in the displacement amplification mechanism 10 can be 1:2, such as... Figure 13 As shown. A displacement amplification device composed of two such displacement amplification mechanisms 10 connected in parallel is as follows: Figure 14 As shown. A displacement amplification device consisting of three displacement amplification mechanisms 10 connected in series is as follows: Figure 15 As shown.

[0100] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A displacement amplification mechanism, characterized in that, The displacement amplification mechanism includes a first fixed module, a second fixed module, a first moving module and a second moving module, and a limiting module; The first movable module is movably connected to the first fixed module and the second fixed module respectively; the first movable module includes a first link, a second link and a third link that are movably connected in sequence; The second movable module is movably connected to both the first fixed module and the second fixed module; the second movable module includes a fourth link, a fifth link, and a sixth link that are movably connected in sequence. The limiting module is connected to both the first fixing module and the second fixing module, and is used to restrict the relative movement of the first fixing module and the second fixing module along the first direction; Specifically, when the relative distance between the first fixed module and the second fixed module changes along the first direction, the relative displacement between the first moving module and the second moving module changes along the second direction; the first direction is perpendicular to the second direction; the relative distance between the first fixed module and the second fixed module is increased according to a preset distance so that the relative displacement between the first moving module and the second moving module reaches the required distance; In the initial state, the relative distance between the first fixed module and the second fixed module of the displacement amplification mechanism is: The relative distance between the first moving module and the second moving module is h, and the length of the second link of the first moving module or the fifth link of the second moving module is... The lengths of the first and third links of the first moving module, and the fourth and sixth links of the second moving module are all... , The increase in the relative distance between the first fixed module and the second fixed module is: The increase in relative displacement between the first moving module and the second moving module is ;like The geometric relationship of the displacement amplification mechanism is as follows: ;like The geometric relationship of the displacement amplification mechanism is as follows: .

2. The displacement amplification mechanism according to claim 1, characterized in that, The displacement amplification mechanism further includes: A drive module, disposed between the first fixed module and the second fixed module, is used to provide driving force to cause the first moving module and the second moving module to generate the relative displacement.

3. The displacement amplification mechanism according to claim 1, characterized in that, The limiting module is a track extending along the first direction, and the first fixing module and the second fixing module are disposed on the track.

4. The displacement amplification mechanism according to any one of claims 1-3, characterized in that, The first mobile module is movably connected to both the first end of the first fixed module and the first end of the second fixed module; The second movable module is movably connected to both the second end of the first fixed module and the second end of the second fixed module.

5. The displacement amplification mechanism according to claim 4, characterized in that, The end of the first link away from the second link is connected to the first end of the first fixed module, and the end of the third link away from the second link is connected to the first end of the second fixed module. The length direction of the second link is parallel to the first direction. The end of the fourth link away from the fifth link is connected to the second end of the first fixed module, the end of the sixth link away from the fifth link is connected to the second end of the second fixed module, and the length direction of the fifth link is parallel to the second link.

6. The displacement amplification mechanism according to claim 4, characterized in that, The first mobile module and the second mobile module have the same shape; the size of the first mobile module and the size of the second mobile module are set in a preset ratio.

7. The displacement amplification mechanism according to claim 2, characterized in that, The drive module includes a piezoelectric actuator.

8. A displacement amplification device, characterized in that, The displacement amplification device includes a plurality of displacement amplification mechanisms as described in any one of claims 1-7, wherein the plurality of displacement amplification mechanisms are arranged in series and / or in parallel.

9. The displacement amplification device according to claim 8, characterized in that, When multiple displacement amplification mechanisms are connected in series, the moving modules of the multiple displacement amplification mechanisms along the second direction are connected end to end.

10. The displacement amplification device according to claim 8, characterized in that, When multiple displacement amplification mechanisms are arranged in parallel, the moving modules of the multiple displacement amplification mechanisms along the first direction are connected end to end.

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