A bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism and a driving method thereof

Abstract

The application provides a bidirectional piezoelectric stick-slip driver based on a flexible amplification mechanism and a driving method, which comprises a base, a guide rail slider, a bearing structure and a flexible amplification driving mechanism, the flexible amplification driving mechanism comprises a first bridge type secondary amplification mechanical arm, a second bridge type secondary amplification mechanical arm and a fixing assembly, the first bridge type secondary amplification mechanical arm comprises a first input beam, a first bridge arm assembly, a first output beam and a second bridge arm assembly, the second bridge type secondary 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 connected with the first fixing beam, and the second bridge arm assembly and the fourth bridge arm assembly are connected with the second fixing beam, the application can improve the output efficiency of the driver, thereby ensuring the manufacturing precision of automobile parts, improving the production speed and improving the production efficiency of automobiles.

Description

Technical Field

[0001] This invention relates to the field of power machinery technology, and in particular to a bidirectional piezoelectric stick-slip actuator and driving method based on a flexible amplification mechanism. Background Technology

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

[0003] However, traditional piezoelectric stick-slip actuators mostly only achieve unidirectional actuation, and their displacement output is limited, resulting in restrictions on speed and load performance. In the context of the current mass production of intelligent vehicles, speed and precision in automotive parts manufacturing have become even more critical requirements, such as the high-precision installation of automotive radar and the high-precision cutting of automotive glass. To enhance their application in the automotive manufacturing field, researching how to effectively amplify the displacement of piezoelectric stacks has become crucial. By amplifying the output displacement, the requirements for millimeter-level stroke and nanometer-level precision can be better met, thereby driving the development of automotive manufacturing. Therefore, exploring a new method that can amplify the displacement of piezoelectric stacks and achieve bidirectional actuation is particularly urgent. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism, which aims to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] A bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism includes a base, a guide rail slider disposed on the base, a support structure, and a flexible amplification drive mechanism disposed on the support structure. The flexible amplification drive mechanism includes a first bridge-type secondary amplification robotic arm and a second bridge-type secondary amplification robotic arm disposed opposite to each other, and a fixing assembly connecting the first bridge-type secondary amplification robotic arm and the second bridge-type secondary amplification robotic arm. The fixing assembly includes a first fixing beam and a second fixing beam. The first bridge-type secondary amplification robotic arm includes a first input beam, a first bridge arm assembly, a first output beam, and a second bridge arm assembly flexibly connected sequentially outward from the guide rail slider. Both the first output beam and the second bridge arm assembly are connected to a first... The driving assembly, the second bridge-type secondary amplification robotic 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 sequentially from the guide rail slider. 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 all flexibly connected to the second fixed beam. The flexible amplification mechanism also includes a negative piezoelectric stack that drives the first input beam to move toward or away from the guide rail slider, and a positive piezoelectric stack that drives 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 disposed opposite to each other. One end of the first bridge arm beam and the second bridge arm beam are both 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. 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 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. 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 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. 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 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. 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 drive assembly includes a first drive rod, a first connecting rod connecting the first drive rod and the third bridge arm beam, and a second connecting rod connecting the first drive rod and the first output beam.

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

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

[0014] According to one aspect of the above technical solution, the negative piezoelectric stack and the positive piezoelectric stack are embedded in the second fixed beam by wedges.

[0015] The present invention also provides a driving method for 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, wherein the steps for driving the bidirectional piezoelectric stick-slip actuator based on the flexible amplification mechanism include:

[0016] The bearing structure allows the first drive component and the second drive component to elastically abut against the guide rail slider;

[0017] The sawtooth wave signal controls the negative piezoelectric stack 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 away from the second bridge-type secondary amplification robotic arm.

[0018] Simultaneously, the sawtooth wave signal controls the negative piezoelectric stack to move the first input beam at a second speed toward the direction away from the guide rail slider, and the sawtooth wave signal controls the positive piezoelectric stack to move the second input beam at a third speed toward the guide rail slider, so that the first output beam drives the first drive assembly toward the second bridge amplification mechanism, and the second output beam drives the second drive assembly toward the direction away from the first bridge amplification mechanism.

[0019] The sawtooth wave signal controls the positive piezoelectric stack to drive the second input beam to move away from the guide rail slider at a fourth speed, so that the second output beam drives the second drive assembly to move towards the first bridge-type secondary amplification robotic arm.

[0020] The first speed is less than the second speed, and the third speed is greater than the fourth speed.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] By setting up a first-bridge secondary amplification robotic arm and a second-bridge secondary amplification robotic arm, bidirectional drive or a unidirectional drive with a longer stroke can be achieved. Specifically, the bearing structure allows the first and second drive components to elastically abut against the guide rail slider. A sawtooth wave signal controls the negative piezoelectric stack to move the first input beam slowly toward the guide rail slider at a first speed, causing the first output beam to drive the first drive component to move away from the second-bridge secondary amplification robotic arm. It can be understood that as the first input beam moves upward, the first bridge arm component also moves upward, pulling the first output beam outward. The outward movement of the first output beam then pulls the second bridge arm component to flip, causing the first drive component to flip, its lower end to retract inward, thus driving its upper end to extend outward, allowing the upper end of the first drive component to move a longer distance. Furthermore, the first output beam will push the first drive assembly outwards. Simultaneously, based on the lever principle, the first output beam acts on the middle of the first drive assembly, further extending the outer end of the first drive assembly. This extension of the outer end of the first drive assembly, due to friction, causes the guide rail slider to move negatively, thus achieving a secondary amplification effect. Next, the sawtooth wave signal controls the negative piezoelectric stack to move the first input beam at a second speed towards a direction away from the guide rail slider. Based on the above steps, the first output beam and other structures will move in the opposite direction, causing the first drive assembly to move the guide rail slider positively. Based on the stick-slip drive principle, 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 action 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, to further improve the output efficiency of the driver, while the negative piezoelectric stack drives the first input beam to move slowly away from the guide rail slider at a second speed, the positive piezoelectric stack is controlled by a sawtooth wave signal to drive the second input beam to move faster towards the guide rail slider at a third speed. According to the principle of the first bridge-type secondary amplification robotic arm described above, the second bridge-type secondary amplification robotic arm will move in the same way, thereby driving the guide rail slider to move forward 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 slowly towards the guide rail slider at a fourth speed, thereby driving the guide rail slider to move negatively 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 elongation of the guide rail slider is still greater than the positive elongation. Under the expansion and contraction action of the positive piezoelectric stack, the total negative elongation is greater than the total positive elongation, thereby further improving the output efficiency of the driver.

[0024] The structure in this invention, through the alternating action of one negative piezoelectric stack and one positive piezoelectric stack, can make the total negative elongation greater than the total positive elongation, thereby improving the output efficiency of the actuator. This, in turn, ensures the manufacturing precision of automotive parts while increasing production speed, and thus improves the production efficiency of automobiles. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the 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 Cross-sectional view of the flexible amplification drive mechanism;

[0027] Figure 3 for Figure 2 Cross-sectional view of the first bridge-type secondary amplification robotic arm and the second bridge-type secondary amplification robotic arm;

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

[0029] Figure 5 for Figure 3 The motion trajectory of the first bridge-type two-stage amplification robotic arm during the negative piezoelectric stack extension;

[0030] Figure 6 for Figure 3 The motion trajectory of the first bridge-type two-stage amplification robotic arm during the negative piezoelectric stack contraction;

[0031] Explanation of key component symbols:

[0032]

[0033]

[0034] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0035] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0036] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] Please see Figures 1 to 6 The image shows a bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism according to a first embodiment of the present invention. It includes a base 1, a guide rail slider 2 disposed on the base 1, a supporting structure, and a flexible amplification drive mechanism 3 disposed on the supporting structure. The flexible amplification drive mechanism 3 includes a first bridge-type secondary amplification robotic arm 10 and a second bridge-type secondary amplification robotic arm 12 disposed opposite to each other, and a fixing assembly connecting the first bridge-type secondary amplification robotic arm 10 and the second bridge-type secondary amplification robotic arm 12. The fixing assembly includes a first fixing beam 26 and a second fixing beam 14. The first bridge-type secondary amplification robotic arm 10 includes a first input beam 19, a first bridge arm assembly, a first output beam 23, and a second bridge arm assembly flexibly connected sequentially from the guide rail slider 2. The first output beam 23 and the second bridge arm... All components are connected to a first drive assembly 9. The second bridge-type secondary amplification robotic arm 12 includes a second input beam 20, a third bridge arm assembly, a second output beam 29, and a fourth bridge arm assembly, which are flexibly connected outward from the guide rail slider 2. The second output beam 29 and the fourth bridge arm assembly are both connected to a second drive assembly 11. 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 26. The second bridge arm assembly and the fourth bridge arm assembly are all flexibly connected to the second fixed beam 14. The flexible amplification mechanism also includes a negative piezoelectric stack 4 that drives the first input beam 19 to move toward or away from the guide rail slider 2, and a positive piezoelectric stack 5 that drives 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 includes the following steps:

[0040] The first drive component 9 and the second drive component 11 are elastically abutted against the guide rail slider 2 by 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 drive assembly 9 to move away from the second bridge-type secondary amplification robotic arm 12.

[0042] Simultaneously, the sawtooth wave signal controls the negative piezoelectric stack 4 to drive the first input beam 19 to move away from the guide rail slider 2 at a second speed, and the sawtooth wave signal controls the positive piezoelectric stack 5 to drive the second input beam 20 to move towards the guide rail slider 2 at a third speed, so that the first output beam 23 drives the first drive assembly 9 to move towards the second bridge amplification mechanism, and the second output beam 29 drives the second drive assembly 11 to move away from the first bridge amplification mechanism;

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

[0044] The first speed is less than the second speed, and the third speed is greater than the fourth speed.

[0045] Understandably, by setting up a first bridge-type secondary amplification robotic arm 10 and a second bridge-type secondary amplification robotic arm 12, the present invention can achieve bidirectional drive or a unidirectional drive with a longer stroke. Specifically, the bearing structure allows the first drive component 9 and the second drive component 11 to elastically abut against the guide rail slider 2; the sawtooth wave signal controls the negative piezoelectric stack 4 to drive the first input beam 19 to move slowly toward the guide rail slider 2 at a first speed, so that the first output beam 23 drives the first drive component 9 to move away from the second bridge-type secondary amplification robotic 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. The first output beam 23 outward pulling the second bridge arm component to flip, and the flipping of the second bridge arm component causes the first drive component 9 to flip, the lower end to retract inward, thereby driving the upper end to extend outward, so that the upper end of the first drive component 9 can move further. The first output beam 23 pushes the first drive component 9 outward over a long distance. Simultaneously, based on the lever principle, the first output beam 23 acts on the middle of the first drive component 9, further extending the outer end of the first drive component 9. This extension of the outer end of the first drive component 9, due to friction, causes the guide rail slider 2 to move negatively, thus achieving a secondary amplification effect. Next, the sawtooth wave signal controls the negative piezoelectric stack 4 to move the first input beam 19 at a second speed towards a direction away from the guide rail slider 2. Based on the above steps, the first output beam 23 and other structures move in the opposite direction, causing the first drive component 9 to move the guide rail slider 2 positively. Based on the stick-slip drive principle, since the second speed is faster than the first speed, the negative extension L1 of the guide rail slider 2 is greater than the positive extension L2. Under the expansion and contraction action 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, to further improve the output efficiency of the driver, while the negative piezoelectric stack 4 drives the first input beam 19 to move slowly away from the guide rail slider 2 at a second speed, the positive piezoelectric stack 5 is controlled by a sawtooth wave signal to drive the second input beam 20 to move faster towards the guide rail slider 2 at a third speed. According to the principle of the first bridge-type secondary amplification robotic arm 10, the second bridge-type secondary amplification robotic arm 12 will move in the same way, thereby driving the guide rail slider 2 to move forward 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 slower towards the guide rail slider 2 at a fourth speed, thereby driving the guide rail slider 2 to move negatively 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 elongation of the guide rail slider 2 is still greater than the positive elongation. Under the extension and contraction action of the positive piezoelectric stack 5, the total negative elongation is greater than the total positive elongation, thereby further improving the output efficiency of the driver.

[0047] The structure in this invention, through the alternating action of a negative piezoelectric stack 4 and a positive piezoelectric stack 5, can make the total negative elongation greater than the total positive elongation, thereby improving the output efficiency of the actuator. This, in turn, ensures the manufacturing precision of automotive parts while increasing production speed, and thus improves the production efficiency of automobiles.

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

[0049] Understandable, please refer to it again. Figure 5 The specific motion trajectory of the first bridge-type secondary amplification robotic arm 10 is shown in the figure. When the negative piezoelectric stack 4 drives the first input beam 19 to extend towards the guide rail slider 2 at the first speed, the first bridge arm beam 21 is pulled outward through the straight beam flexible hinge 36. The first bridge arm beam 21 pulls the first output beam 23 outward through the straight beam 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 flexible hinge 36. The second bridge arm beam 22 flips, causing... The first drive rod 17 flips, and the lower end of the first drive rod 17 retracts inward, which in turn drives the upper end of the first drive foot 18 to extend outward, so that the first drive foot 18 can move a longer distance. The first output beam 23 will also push the first drive foot 18 outward. At the same time, based on the lever principle, the first output beam 23 acts on the middle of the first drive rod 17, which can further extend the distance of the first drive foot 18. The extension of the first drive foot 18 will drive the guide rail slider 2 to move in the negative direction due to friction, thereby achieving a two-stage amplification effect on the guide rail slider 2.

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

[0051] Furthermore, the third bridge arm assembly includes a fifth bridge arm beam 27 and a sixth bridge arm beam 28 arranged opposite to each other. One end 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 arranged opposite to each other. The seventh bridge arm... One end of beam 30 and the eighth bridge arm beam 31 are both connected to the second fixed beam 14 via 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 via a straight beam type flexible hinge 36. The other end of the eighth bridge arm beam 31 is connected to the second output beam 29 via a straight beam type flexible hinge 36. The second drive assembly 11 includes a second drive rod 34, a third connecting rod 32 connecting the second drive rod 34 and the eighth bridge arm beam 31, and a fourth connecting rod 33 connecting the second drive rod 34 and the second output beam 29.

[0052] It should be noted that the principle of the second bridge-type secondary amplification robotic arm 12 is the same as that of the first bridge-type secondary amplification robotic arm 10 mentioned above, and will not be elaborated here.

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

[0054] Understandably, the flexible amplification drive mechanism 3 is first placed on the base 7, and then the X-axis micro-motion platform 8 drives the base 7 and the flexible amplification drive mechanism 3 to move together, thereby adjusting the tightness between the first drive foot 18 and the second drive foot 35 and the guide rail slider 2. The tighter the fit, the greater the friction between the first drive foot 18 and the second drive foot 35 and the guide rail slider 2, and the more stable the movement of the guide rail slider 2 will be when the first drive foot 18 and the second drive foot 35 move.

[0055] In summary, the bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism in the above embodiments of the present invention, through the alternating action of one negative piezoelectric stack and one positive piezoelectric stack, can make the total negative elongation greater than the total positive elongation, thereby improving the output efficiency of the actuator. In this way, while ensuring the manufacturing precision of automotive parts, it also increases the production speed, thereby improving the production efficiency of automobiles.

[0056] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0057] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A bidirectional piezoelectric stick-slip actuator based on a flexible amplification mechanism, characterized in that, The system includes a base, a guide rail slider and a support structure mounted on the base, and a flexible amplification drive mechanism mounted on the support structure. The flexible amplification drive mechanism includes a first bridge-type secondary amplification robotic arm and a second bridge-type secondary amplification robotic arm disposed opposite each other, and a fixing assembly connecting the first bridge-type secondary amplification robotic arm and the second bridge-type secondary amplification robotic arm. The fixing assembly includes a first fixing beam and a second fixing beam. The first bridge-type secondary amplification robotic arm includes a first input beam, a first bridge arm assembly, a first output beam, and a second bridge arm assembly flexibly connected sequentially outward from the guide rail slider. Both the first output beam and the second bridge arm assembly are connected to a first drive assembly. The second bridge... The two-stage amplification robotic 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 sequentially from the guide rail slider. The second output beam and the fourth bridge arm assembly are both connected to a second drive 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 all flexibly connected to the second fixed beam. The flexible amplification mechanism also includes a negative piezoelectric stack that drives the first input beam to move toward or away from the guide rail slider, and a positive piezoelectric stack that drives 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 disposed opposite to each other. One end of the first bridge arm beam and the second bridge arm beam are both 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. 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 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. 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. 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 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. 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 drive assembly includes a first drive rod, a first connecting rod connecting the first drive rod and the third bridge arm beam, and a second connecting rod connecting the first drive 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 drive assembly includes a second drive rod, a third link connecting the second drive rod and the eighth bridge arm beam, and a fourth link connecting the second drive 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 load-bearing structure includes an X-axis micro-motion platform slidably connected to the base and a base fixed to the X-axis micro-motion platform. The first fixed beam and the second fixed beam are connected to the base through a fixing 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 in the second fixed beam by wedges.

10. A driving method for 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, as described in any one of claims 1 to 9, comprises the following steps for driving the bidirectional piezoelectric stick-slip actuator based on the flexible amplification mechanism: The bearing structure allows the first drive component and the second drive component to elastically abut against the guide rail slider; The sawtooth wave signal controls the negative piezoelectric stack 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 away from the second bridge-type secondary amplification robotic arm. Simultaneously, the negative piezoelectric stack is controlled by a sawtooth wave signal to move the first input beam at a second speed toward the direction away from the guide rail slider, and the positive piezoelectric stack is controlled by a sawtooth wave signal to move the second input beam at a third speed toward the guide rail slider, so that the first output beam drives the first drive assembly toward the second bridge-type secondary amplification robotic arm, and the second output beam drives the second drive assembly toward the direction away from the first bridge-type secondary amplification robotic arm. The sawtooth wave signal controls the positive piezoelectric stack to drive the second input beam to move away from the guide rail slider at a fourth speed, so that the second output beam drives the second drive assembly to move towards the first bridge-type secondary amplification robotic arm. The first speed is less than the second speed, and the third speed is greater than the fourth speed.

Images