Bidirectional piezoelectric stick-slip driver based on flexible amplification mechanism and driving method

Abstract

The invention provides a bidirectional piezoelectric stick-slip driver based on a flexible amplification mechanism and a driving method.The driver comprises a base, a guide rail sliding block, a bearing structure and a flexible amplification driving mechanism, and the flexible amplification driving mechanism comprises a first bridge type two-stage amplification mechanical arm, a second bridge type two-stage amplification mechanical arm and a fixing assembly; the first bridge type two-stage amplification mechanical arm comprises a first input beam, a first bridge arm assembly, a first output beam and a second bridge arm assembly, and the second bridge type two-stage amplification mechanical arm comprises a second input beam, a third bridge arm assembly, a second output beam and a fourth bridge arm assembly. The first bridge arm assembly, the second bridge arm assembly, the third bridge arm assembly and the fourth bridge arm assembly are all connected with the first fixing beam, the second bridge arm assembly and the fourth bridge arm assembly are all connected with the second fixing beam, the output efficiency of the driver can be improved, the production speed is increased while the manufacturing precision of automobile parts is guaranteed, and the production cost is reduced. And the production efficiency of the automobile is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power machinery, and in particular to a bidirectional piezoelectric stick-slip driver based on a flexible amplification mechanism and a driving method. Background Art

[0002] Micro-nano technology is increasingly used in modern science and technology and industry, especially in areas that require high-precision control and positioning, such as optical and optoelectronic engineering, microelectronics manufacturing, automobile manufacturing, aerospace, etc. Piezoelectric stick-slip drive devices have become an important component of ultra-precision drive devices due to their unique advantages of high precision and fast response.

[0003] However, most traditional piezoelectric stick-slip actuators can only achieve unidirectional drive, and their displacement output is limited, resulting in speed and load performance restrictions. In the context of the current mass production of smart cars, the speed and accuracy of automotive parts manufacturing have become more critical requirements, such as the high-precision installation of automotive radars, high-precision cutting of automotive glass, etc. In order to improve its application in the field of automotive manufacturing, it is key to study how to effectively amplify the displacement of the piezoelectric stack. By amplifying the output displacement, the requirements of millimeter-level travel and nanometer-level precision can be better met, thereby promoting the development of automobile manufacturing. Therefore, it is particularly urgent to explore a new method that can amplify the displacement of the piezoelectric stack and achieve bidirectional drive. Summary of the invention

[0004] In view of the deficiencies in the prior art, an object of the present invention is to provide a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism, aiming to solve the technical problems mentioned in the background technology.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] A bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism comprises a base, a guide rail slider and a bearing structure arranged on the base, and a flexible amplification driving mechanism arranged on the bearing structure, wherein the flexible amplification driving mechanism comprises a first bridge-type secondary amplification mechanical arm and a second bridge-type secondary amplification mechanical arm arranged opposite to each other, and a fixing component connecting the first bridge-type secondary amplification mechanical arm and the second bridge-type secondary amplification mechanical arm, wherein the fixing component comprises a first fixing beam and a second fixing beam, wherein the first bridge-type secondary amplification mechanical arm comprises a first input beam, a first bridge arm component, a first output beam, and a second bridge arm component which are flexibly connected in sequence from the guide rail slider to the outside, wherein the first output beam and the second bridge arm component are both connected to a first driving component, the second bridge-type secondary amplifying mechanical arm includes a second input beam, a third bridge arm component, a second output beam and a fourth bridge arm component which are flexibly connected in sequence from the guide rail slider outward, the second output beam and the fourth bridge arm component are both connected to a second driving component, the first bridge arm component, the second bridge arm component, the third bridge arm component and the fourth bridge arm component are all flexibly connected to the first fixed beam, the second bridge arm component and the fourth bridge arm component are both flexibly connected to the second fixed beam, and the flexible amplifying mechanism also includes a negative piezoelectric stack for driving the first input beam to move toward or away from the guide rail slider, and a positive piezoelectric stack for driving the second input beam to move toward or away from the guide rail slider.

[0007] According to one aspect of the above technical solution, the first bridge arm assembly includes a first bridge arm beam and a second bridge arm beam which are arranged opposite to each other, one end of the first bridge arm beam and the second bridge arm beam are connected to the first input beam through a straight beam type flexible hinge, the other end of the first bridge arm beam is connected to the first output beam through a straight beam type flexible hinge, and the other end of the second bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge.

[0008] According to one aspect of the above technical solution, the second bridge arm assembly includes a third bridge arm beam and a fourth bridge arm beam which are relatively arranged, one end of the third bridge arm beam and the fourth bridge arm beam are connected to the second fixed beam through a straight beam type flexible hinge, the other end of the third bridge arm beam is connected to the first output beam through a straight beam type flexible hinge, and the other end of the fourth bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge.

[0009] According to one aspect of the above technical solution, the third bridge arm assembly includes a fifth bridge arm beam and a sixth bridge arm beam that are relatively arranged, one end of the fifth bridge arm beam and the sixth bridge arm beam are connected to the second input beam through a straight beam type flexible hinge, the other end of the fifth bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge, and the other end of the sixth bridge arm beam is connected to the second output beam through a straight beam type flexible hinge.

[0010] According to one aspect of the above technical solution, the fourth bridge arm assembly includes a seventh bridge arm beam and an eighth bridge arm beam that are relatively arranged, one end of the seventh bridge arm beam and the eighth bridge arm beam are connected to the second fixed beam through a straight beam type flexible hinge, the other end of the seventh bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge, and the other end of the eighth bridge arm beam is connected to the second output beam through a straight beam type flexible hinge.

[0011] According to one aspect of the above technical solution, the first driving assembly includes a first driving rod, a first connecting rod connecting the first driving rod and the third bridge arm beam, and a second connecting rod connecting the first driving rod and the first output beam.

[0012] According to one aspect of the above technical solution, the second driving assembly includes a second driving rod, a third connecting rod connecting the second driving rod and the eighth bridge arm beam, and a fourth connecting rod connecting the second driving rod and the second output beam.

[0013] According to one aspect of the above technical solution, the bearing structure includes an X-axis fine-motion platform slidably connected to the base, and a base fixedly connected to the X-axis fine-motion platform, and the first fixed beam and the second fixed beam are connected to the base via a fixed structure.

[0014] According to one aspect of the above technical solution, the negative piezoelectric stack and the positive piezoelectric stack are embedded on the second fixed beam through wedge blocks.

[0015] The present invention also provides a driving method of a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism, comprising the bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism as described above, and the steps of driving the bidirectional piezoelectric stick-slip actuator based on the flexible amplification mechanism include:

[0016] The first drive assembly and the second drive assembly are elastically pressed against the guide rail slider by the bearing structure;

[0017] Control the negative piezoelectric stack through a sawtooth wave signal to drive the first input beam to move toward the guide rail slider at a first speed, so that the first output beam drives the first drive assembly to move in a direction away from the second bridge-type secondary amplification mechanical arm;

[0018] At the same time, the negative piezoelectric stack is controlled by a sawtooth wave signal to drive the first input beam to move in a direction away from the guide slider at a second speed, and the positive piezoelectric stack is controlled by a sawtooth wave signal to drive the second input beam to move toward the guide slider at a third speed, so that the first output beam drives the first drive assembly to move toward the second bridge amplifier mechanism, and the second output beam drives the second drive assembly to move in a direction away from the first bridge amplifier mechanism;

[0019] Control the forward piezoelectric stack to drive the second input beam to move in a direction away from the guide rail slider at a fourth speed through a sawtooth wave signal, so that the second output beam drives the second drive assembly to move in a direction toward the first bridge-type secondary amplification mechanical arm;

[0020] The first speed is smaller than the second speed, and the third speed is larger than the fourth speed.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] By setting a relative first bridge-type secondary amplifying mechanical arm and a second bridge-type secondary amplifying mechanical arm, bidirectional driving or unidirectional driving with a longer stroke can be achieved. Specifically, the first driving component and the second driving component are elastically pressed against the guide rail slider through the bearing structure; the negative piezoelectric stack is controlled by a sawtooth wave signal to drive the first input beam to move toward the guide rail slider at a first speed at a slower speed, so that the first output beam drives the first driving component to move in a direction away from the second bridge-type secondary amplifying mechanical arm. It can be understood that when the first input beam moves upward, the first bridge arm component will also move upward, thereby pulling the first output beam outward, and the first output beam is pushed outward, thereby pulling the second bridge arm component to flip, and the flipping of the second bridge arm component causes the first driving component to flip, and the lower end retracts inward and drives the upper end to extend outward, so that the upper end of the first driving component can move a longer distance. , and the first output beam will also push the first drive component outward. At the same time, based on the principle of lever, the first output beam acts on the middle part of the first drive component, which can further extend the extension distance of the outer end of the first drive component. The extension of the outer end of the first drive component will drive the guide rail slider to move negatively due to friction, thereby achieving a secondary amplification effect on the guide rail slider; then, the negative piezoelectric stack is controlled by a sawtooth wave signal to drive the first input beam to move faster in the direction away from the guide rail slider at a second speed. Based on the above steps, the first output beam and other structures will move in the opposite direction, thereby causing the first drive component to drive the guide rail slider to move positively. Based on the working principle of stick-slip drive, since the second speed is faster than the first speed, the negative extension of the guide rail slider is greater than the positive extension. Under the expansion and contraction of the negative piezoelectric stack, the total negative extension is greater than the total positive extension, thereby improving the output efficiency of the driver;

[0023] Furthermore, if the output efficiency of the driver is to be further improved, the negative piezoelectric stack can drive the first input beam to move at a second speed relatively slowly in the direction away from the guide rail slider, while the positive piezoelectric stack can be controlled by a sawtooth wave signal to drive the second input beam to move at a third speed relatively quickly toward the guide rail slider. According to the principle of the first bridge-type secondary amplification mechanical arm mentioned above, the second bridge-type secondary amplification mechanical arm will move according to the same principle, and then drive the guide rail slider to move in the positive direction through the second drive component; then the positive piezoelectric stack is controlled by a sawtooth wave signal to drive the second input beam to move at a fourth speed relatively slowly toward the guide rail slider, and then drive the guide rail slider to move in the negative direction through the second drive component. Based on the working principle of stick-slip drive, since the third speed is faster than the fourth speed, the negative extension of the guide rail slider is still greater than the positive extension. Under the expansion and contraction action of the positive piezoelectric stack once, the total negative extension is greater than the total positive extension, thereby once again improving the output efficiency of the driver;

[0024] The structure of the present invention can make the total negative extension greater than the total positive extension through the alternating action of a negative piezoelectric stack and a positive piezoelectric stack, thereby improving the output efficiency of the driver, thereby ensuring the manufacturing accuracy of automobile parts while also increasing the production speed, thereby improving the production efficiency of the automobile. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism in the first embodiment of the present invention;

[0026] Figure 2 for Figure 1 A cross-sectional view of the flexible amplification drive mechanism;

[0027] Figure 3 for Figure 2 A cross-sectional view of the first bridge-type secondary amplifying mechanical arm and the second bridge-type secondary amplifying mechanical arm;

[0028] Figure 4 for Figure 3 Structural diagram of a straight beam flexible hinge;

[0029] Figure 5 for Figure 3 The motion trajectory of the first bridge-type two-stage amplified manipulator when the negative piezoelectric stack is extended;

[0030] Figure 6 for Figure 3 The motion trajectory diagram of the first bridge-type two-stage amplified manipulator when the negative piezoelectric stack contracts;

[0031] Description of main component symbols:

[0032]

[0033]

[0034] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0035] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0036] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] See also Figures 1 to 6 , shown is a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism in a first embodiment of the present invention, comprising a base 1, a guide rail slider 2 and a bearing structure arranged on the base 1, and a flexible amplification driving mechanism 3 arranged on the bearing structure, the flexible amplification driving mechanism 3 comprising a first bridge-type secondary amplification mechanical arm 10 and a second bridge-type secondary amplification mechanical arm 12 arranged opposite to each other, and a fixing component connecting the first bridge-type secondary amplification mechanical arm 10 and the second bridge-type secondary amplification mechanical arm 12, the fixing component comprising a first fixing beam 26 and a second fixing beam 14, the first bridge-type secondary amplification mechanical arm 10 comprising a first input beam 19, a first bridge arm component, a first output beam 23 and a second bridge arm component flexibly connected in sequence from the guide rail slider 2 to the outside, the first output beam 23 and the second bridge arm The components are all connected to the first driving component 9, the second bridge-type secondary amplifying mechanical arm 12 includes a second input beam 20, a third bridge arm component, a second output beam 29 and a fourth bridge arm component which are flexibly connected in sequence from the guide rail slider 2, the second output beam 29 and the fourth bridge arm component are both connected to the second driving component 11, the first bridge arm component, the second bridge arm component, the third bridge arm component and the fourth bridge arm component are all flexibly connected to the first fixed beam 26, the second bridge arm component and the fourth bridge arm component are both flexibly connected to the second fixed beam 14, and the flexible amplifying mechanism also includes a negative piezoelectric stack 4 for driving the first input beam 19 to move toward or away from the guide rail slider 2, and a positive piezoelectric stack 5 for driving the second input beam 20 to move toward or away from the guide rail slider 2.

[0039] The driving method of the bidirectional piezoelectric stick-slip actuator based on the flexible amplification mechanism comprises the following steps:

[0040] The first drive assembly 9 and the second drive assembly 11 are elastically pressed against the guide rail slider 2 through the bearing structure;

[0041] The negative piezoelectric stack 4 is controlled by a sawtooth wave signal to drive the first input beam 19 to move toward the guide rail slider 2 at a first speed, so that the first output beam 23 drives the first driving assembly 9 to move in a direction away from the second bridge-type secondary amplification mechanical arm 12;

[0042] At the same time, the negative piezoelectric stack 4 is controlled by a sawtooth wave signal to drive the first input beam 19 to move in a direction away from the guide slider 2 at a second speed, and the positive piezoelectric stack 5 is controlled by a sawtooth wave signal to drive the second input beam 20 to move toward the guide slider 2 at a third speed, so that the first output beam 23 drives the first drive component 9 to move toward the second bridge amplifier mechanism, and the second output beam 29 drives the second drive component 11 to move in a direction away from the first bridge amplifier mechanism;

[0043] Control the forward piezoelectric stack 5 through a sawtooth wave signal to drive the second input beam 20 to move in a direction away from the guide rail slider 2 at a fourth speed, so that the second output beam 29 drives the second drive assembly 11 to move in a direction toward the first bridge-type secondary amplification robot arm 10;

[0044] The first speed is smaller than the second speed, and the third speed is larger than the fourth speed.

[0045] It can be understood that the present invention can achieve bidirectional driving or unidirectional driving with a longer stroke by setting a relative first bridge-type secondary amplifying mechanical arm 10 and a second bridge-type secondary amplifying mechanical arm 12. Specifically, the first driving component 9 and the second driving component 11 are elastically pressed against the guide rail slider 2 through the bearing structure; the negative piezoelectric stack 4 is controlled by a sawtooth wave signal to drive the first input beam 19 to move toward the guide rail slider 2 at a first speed at a slower speed, so that the first output beam 23 drives the first driving component 9 to move in a direction away from the second bridge-type secondary amplifying mechanical arm 12. It can be understood that when the first input beam 19 moves upward, the first bridge arm component will also move upward, thereby pulling the first output beam 23 outward to eject, and the first output beam 23 ejects outward, thereby pulling the second bridge arm component to flip, and the flipping of the second bridge arm component causes the first driving component 9 to flip, and the lower end retracts inward and drives the upper end to extend outward, so that the upper end of the first driving component 9 can move further. The first output beam 23 also pushes the first drive component 9 outwards. At the same time, based on the principle of lever, the first output beam 23 acts on the middle part of the first drive component 9, which can further extend the distance of the outer end of the first drive component 9. The outer end extension of the first drive component 9 will drive the guide slider 2 to move negatively due to the friction force, thereby achieving a secondary amplification effect on the guide slider 2; then, the negative piezoelectric stack 4 is controlled by a sawtooth wave signal to drive the first input beam 19 to move faster at a second speed in a direction away from the guide slider 2. Based on the above steps, the first output beam 23 and other structures will move in the opposite direction, thereby causing the first drive component 9 to drive the guide slider 2 to move forward. Based on the working principle of stick-slip drive, since the second speed is faster than the first speed, the negative extension L1 of the guide slider 2 is greater than the positive extension L2. Under the expansion and contraction of the negative piezoelectric stack 4, the total negative extension L1 is greater than the total positive extension L2, thereby improving the output efficiency of the driver;

[0046] Furthermore, if the output efficiency of the driver is to be further improved, the negative piezoelectric stack 4 can drive the first input beam 19 to move at a second speed relatively slowly in the direction away from the guide slider 2, while the positive piezoelectric stack 5 can be controlled by a sawtooth wave signal to drive the second input beam 20 to move at a third speed relatively quickly toward the guide slider 2. According to the principle of the first bridge-type secondary amplification mechanical arm 10 mentioned above, the second bridge-type secondary amplification mechanical arm 12 will move according to the same principle, and then drive the guide slider 2 to move in the positive direction through the second drive component 11; then, the positive piezoelectric stack 5 is controlled by a sawtooth wave signal to drive the second input beam 20 to move at a fourth speed relatively slowly toward the guide slider 2, and then drive the guide slider 2 to move in the negative direction through the second drive component 11. Based on the working principle of stick-slip drive, since the third speed is faster than the fourth speed, the negative extension of the guide slider 2 is still greater than the positive extension. Under the expansion and contraction action of the positive piezoelectric stack 5 once, the total negative extension is greater than the total positive extension, thereby once again improving the output efficiency of the driver;

[0047] The structure of the present invention, through the alternating action of a negative piezoelectric stack 4 and a positive piezoelectric stack 5, can make the total negative extension greater than the total positive extension, thereby improving the output efficiency of the driver, thereby ensuring the manufacturing accuracy of automobile parts while also increasing the production speed, thereby improving the production efficiency of the automobile.

[0048] Specifically, in this embodiment, the first bridge arm assembly includes a first bridge arm beam 21 and a second bridge arm beam 22 that are arranged opposite to each other, one end of the first bridge arm beam 21 and the second bridge arm beam 22 are connected to the first input beam 19 through a straight beam type flexible hinge 36, the other end of the first bridge arm beam 21 is connected to the first output beam 23 through a straight beam type flexible hinge 36, and the other end of the second bridge arm beam 22 is connected to the first fixed beam 26 through a straight beam type flexible hinge 36; the second bridge arm assembly includes a third bridge arm beam 24 and a fourth bridge arm beam 25 that are arranged opposite to each other, one end of the third bridge arm beam 24 and the fourth bridge arm beam 25 are connected to each other through a straight beam type flexible hinge 36. The third bridge arm beam 24 is connected to the second fixed beam 14 through a straight beam type flexible hinge 36, the other end of the third bridge arm beam 24 is connected to the first output beam 23 through a straight beam type flexible hinge 36, and the other end of the fourth bridge arm beam 25 is connected to the first fixed beam 26 through a straight beam type flexible hinge 36; the first driving component 9 includes a first driving rod 17, a first connecting rod 15 connecting the first driving rod 17 and the third bridge arm beam 24, and a second connecting rod 16 connecting the first driving rod 17 and the first output beam 23, the top end of the first driving rod 17 has a first driving foot 18, and the first driving foot 18 elastically contacts the guide rail slider 2.

[0049] Understandable, please refer again Figure 5 The specific motion trajectory of the first bridge-type two-stage amplification mechanical arm 10 is shown in the figure. When the negative piezoelectric stack 4 drives the first input beam 19 to extend toward the guide slider 2 at the first speed, the first bridge arm beam 21 is pulled outward through the straight beam type flexible hinge 36. The first bridge arm beam 21 pulls the first output beam 23 outward through the straight beam type flexible hinge 36. Due to the fixing effect of the first fixed beam 26, the first output beam 23 will pull the third bridge arm beam 24 to flip through the straight beam type flexible hinge 36, and the second bridge arm beam 22 will flip so that The first driving rod 17 flips over, and the lower end of the first driving rod 17 retracts inwards, thereby driving the first driving foot 18 at the upper end to extend outwards, so that the first driving foot 18 can move a longer distance, and the first output beam 23 will also push the first driving foot 18 outwards. At the same time, based on the principle of leverage, the first output beam 23 acts on the middle part of the first driving rod 17, and the extension distance of the first driving foot 18 can be further lengthened. The extension of the first driving foot 18 will drive the guide rail slider 2 to move negatively due to friction, thereby achieving a secondary amplification effect on the guide rail slider 2;

[0050] Please refer again Figure 6 Based on the same principle, when the negative piezoelectric stack 4 drives the first input beam 19 to contract in the direction away from the guide rail slider 2 at the second speed, the contraction of the first driving foot 18 will drive the guide rail slider 2 to move in the positive direction due to the friction force. Based on the working principle of stick-slip drive, since the second speed is faster than the first speed, the negative extension of the guide rail slider 2 is greater than the positive extension. Under the expansion and contraction of the negative piezoelectric stack 4, the total negative extension is greater than the total positive extension, thereby improving the output efficiency of the driver;

[0051] Further, the third bridge arm assembly includes a fifth bridge arm beam 27 and a sixth bridge arm beam 28 which are arranged opposite to each other, one end of each of the fifth bridge arm beam 27 and the sixth bridge arm beam 28 are connected to the second input beam 20 via a straight beam type flexible hinge 36, the other end of the fifth bridge arm beam 27 is connected to the first fixed beam 26 via a straight beam type flexible hinge 36, and the other end of the sixth bridge arm beam 28 is connected to the second output beam 29 via a straight beam type flexible hinge 36; the fourth bridge arm assembly includes a seventh bridge arm beam 30 and an eighth bridge arm beam 31 which are arranged opposite to each other, the seventh bridge arm beam 27 and the sixth bridge arm beam 28 are connected to the second input beam 20 via a straight beam type flexible hinge 36, the other end of the fifth bridge arm beam 27 is connected to the first fixed beam 26 via a straight beam type flexible hinge 36, and the other end of the sixth bridge arm beam 28 is connected to the second output beam 29 via a straight beam type flexible hinge 36; One end of the beam 30 and the eighth bridge arm beam 31 are connected to the second fixed beam 14 through a straight beam type flexible hinge 36, the other end of the seventh bridge arm beam 30 is connected to the first fixed beam 26 through a straight beam type flexible hinge 36, and the other end of the eighth bridge arm beam 31 is connected to the second output beam 29 through a straight beam type flexible hinge 36; the second driving assembly 11 includes a second driving rod 34, a third connecting rod 32 connecting the second driving rod 34 and the eighth bridge arm beam 31, and a fourth connecting rod 33 connecting the second driving rod 34 and the second output beam 29.

[0052] It should be noted that the principle of the second bridge-type secondary amplifying mechanical arm 12 is consistent with the principle of the first bridge-type secondary amplifying mechanical arm 10 mentioned above, and will not be elaborated here.

[0053] Furthermore, the bearing structure includes an X-axis fine-motion platform 8 slidably connected to the base 1, and a base 7 fixedly connected to the X-axis fine-motion platform 8, the first fixed beam 26 and the second fixed beam 14 are connected to the base 7 through a fixed structure 13; the negative piezoelectric stack 4 and the positive piezoelectric stack 5 are embedded in the second fixed beam 14 through a wedge block 6.

[0054] It can be understood that the flexible amplifying driving mechanism 3 is first placed on the base 7, and then the base 7 is driven to move together with the flexible amplifying driving mechanism 3 through the X-axis fine-motion platform 8, thereby adjusting the degree of close contact between the first driving foot 18 and the second driving foot 35 and the guide rail slider 2. The tighter the fit, the greater the friction between the first driving foot 18 and the second driving foot 35 and the guide rail slider 2. When the first driving foot 18 and the second driving foot 35 move, the movement of the guide rail slider 2 will be more stable.

[0055] In summary, the bidirectional piezoelectric stick-slip actuator based on the flexible amplification mechanism in the above-mentioned embodiments of the present invention can make the total negative extension greater than the total positive extension through the alternating action of a negative piezoelectric stack and a positive piezoelectric stack, thereby improving the output efficiency of the actuator, thereby ensuring the manufacturing accuracy of automobile parts while also improving the production speed, thereby improving the production efficiency of the automobile.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0057] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism, characterized in that: The invention comprises a base, a guide rail slider and a bearing structure arranged on the base, and a flexible amplification driving mechanism arranged on the bearing structure, wherein the flexible amplification driving mechanism comprises a first bridge-type secondary amplification mechanical arm and a second bridge-type secondary amplification mechanical arm arranged opposite to each other, and a fixing component connecting the first bridge-type secondary amplification mechanical arm and the second bridge-type secondary amplification mechanical arm, wherein the fixing component comprises a first fixing beam and a second fixing beam, wherein the first bridge-type secondary amplification mechanical arm comprises a first input beam, a first bridge arm component, a first output beam and a second bridge arm component which are flexibly connected in sequence from the guide rail slider to the outside, wherein the first output beam and the second bridge arm component are both connected to a first driving component, and the second bridge arm component is connected to a first output beam and a second bridge arm component. The two-stage amplification mechanical arm includes a second input beam, a third bridge arm assembly, a second output beam and a fourth bridge arm assembly which are flexibly connected in sequence from the guide rail slider outward, the second output beam and the fourth bridge arm assembly are both connected to a second driving assembly, the first bridge arm assembly, the second bridge arm assembly, the third bridge arm assembly and the fourth bridge arm assembly are all flexibly connected to the first fixed beam, the second bridge arm assembly and the fourth bridge arm assembly are both flexibly connected to the second fixed beam, and the flexible amplification mechanism also includes a negative piezoelectric stack for driving the first input beam to move toward or away from the guide rail slider, and a positive piezoelectric stack for driving the second input beam to move toward or away from the guide rail slider.

2. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 1, characterized in that: The first bridge arm assembly includes a first bridge arm beam and a second bridge arm beam which are arranged opposite to each other, one end of the first bridge arm beam and the second bridge arm beam are connected to the first input beam through a straight beam type flexible hinge, the other end of the first bridge arm beam is connected to the first output beam through a straight beam type flexible hinge, and the other end of the second bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge.

3. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 2, characterized in that: The second bridge arm assembly includes a third bridge arm beam and a fourth bridge arm beam which are arranged opposite to each other, one end of the third bridge arm beam and the fourth bridge arm beam are connected to the second fixed beam through a straight beam type flexible hinge, the other end of the third bridge arm beam is connected to the first output beam through a straight beam type flexible hinge, and the other end of the fourth bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge.

4. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 3, characterized in that: The third bridge arm assembly includes a fifth bridge arm beam and a sixth bridge arm beam arranged opposite to each other, one end of the fifth bridge arm beam and the sixth bridge arm beam are connected to the second input beam through a straight beam type flexible hinge, the other end of the fifth bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge, and the other end of the sixth bridge arm beam is connected to the second output beam through a straight beam type flexible hinge.

5. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 4, characterized in that: The fourth bridge arm assembly includes a seventh bridge arm beam and an eighth bridge arm beam which are arranged opposite to each other, one end of the seventh bridge arm beam and the eighth bridge arm beam are connected to the second fixed beam through a straight beam type flexible hinge, the other end of the seventh bridge arm beam is connected to the first fixed beam through a straight beam type flexible hinge, and the other end of the eighth bridge arm beam is connected to the second output beam through a straight beam type flexible hinge.

6. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 5, characterized in that: The first driving assembly includes a first driving rod, a first connecting rod connecting the first driving rod and the third bridge arm beam, and a second connecting rod connecting the first driving rod and the first output beam.

7. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 6, characterized in that: The second driving assembly includes a second driving rod, a third connecting rod connecting the second driving rod and the eighth bridge arm beam, and a fourth connecting rod connecting the second driving rod and the second output beam.

8. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 1, characterized in that: The bearing structure includes an X-axis fine-motion platform slidably connected to the base, and a base fixedly connected to the X-axis fine-motion platform, and the first fixed beam and the second fixed beam are connected to the base via a fixed structure.

9. The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to claim 1, characterized in that: The negative piezoelectric stack and the positive piezoelectric stack are embedded on the second fixed beam through wedge blocks.

10. A driving method of a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism, characterized in that: The bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to any one of claims 1 to 9, wherein the steps of driving the bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism include: The first drive assembly and the second drive assembly are elastically pressed against the guide rail slider by the bearing structure; Control the negative piezoelectric stack to drive the first input beam to move toward the guide rail slider at a first speed through a sawtooth wave signal, so that the first output beam drives the first drive assembly to move in a direction away from the second bridge-type secondary amplification mechanical arm; At the same time, the negative piezoelectric stack is controlled by a sawtooth wave signal to drive the first input beam to move in a direction away from the guide slider at a second speed, and the positive piezoelectric stack is controlled by a sawtooth wave signal to drive the second input beam to move toward the guide slider at a third speed, so that the first output beam drives the first drive assembly to move toward the second bridge amplifier mechanism, and the second output beam drives the second drive assembly to move in a direction away from the first bridge amplifier mechanism; Control the forward piezoelectric stack to drive the second input beam to move in a direction away from the guide rail slider at a fourth speed through a sawtooth wave signal, so that the second output beam drives the second drive assembly to move in a direction toward the first bridge-type secondary amplification mechanical arm; The first speed is smaller than the second speed, and the third speed is larger than the fourth speed.

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