A torsion actuated piezoelectric stick-slip drive system and method of driving the same

Abstract

The application discloses a torsion actuating piezoelectric stick-slip driving system and a driving method thereof, and relates to the technical field of piezoelectric ceramic driving. A platform top cover is slidably arranged on the surface of a platform base; the piezoelectric flexible hinge driver is composed of a torsion driving flexible mechanism and two piezoelectric ceramics; the torsion driving flexible mechanism comprises a hinge top plate, a hinge base and an intermediate supporting arm and two side supporting arms for connecting the hinge top plate and the hinge base; the hinge top plate is provided with a semicylindrical driving foot which is in contact with the platform top cover; the hinge base is fixedly arranged on the platform base; the intermediate supporting arm is provided with a bottom torsion hinge and a top torsion hinge; the side supporting arm is provided with four bridge hinges; and the two piezoelectric ceramics are arranged in two cavities of the torsion driving flexible mechanism. Through the precise cooperation of the torsion driving flexible mechanism design and the piezoelectric ceramic, the effective combination of high speed and high precision is realized, the size of the driver is significantly reduced, the miniaturization of the equipment is realized, and the integration and operation flexibility of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of piezoelectric ceramic drive technology, specifically a torsional actuation piezoelectric stick-slip drive system and its driving method. Background Technology

[0002] Conventional piezoelectric ceramic actuators are mainly divided into three types: inchworm type, ultrasonic motor type, and stick-slip type. Among them, the inchworm type has obvious advantages in terms of small size and low energy consumption, but it is limited by the difficulty in balancing power output and resolution. The ultrasonic motor type performs well in terms of high torque and fast response, but it is insufficient in high-precision control. The stick-slip type can overcome the shortcomings of both the inchworm type and the ultrasonic motor type, combining the advantages of high speed and high precision, and is widely used in the fields of precision positioning and micro-mechanical devices.

[0003] The high precision of stick-slip actuators stems from the precise coordination between piezoelectric ceramics and flexible transmission mechanisms. However, the development of piezoelectric ceramics has reached a certain technological bottleneck. Therefore, optimizing and improving the flexible transmission mechanism has become the main direction for the development of stick-slip actuators. This invention innovatively designs a torsional actuation-based stick-slip actuator system, which effectively reduces its size while ensuring high speed and high mechanical resolution, achieving a miniaturized design for the stick-slip actuator system. Summary of the Invention

[0004] To address the shortcomings of the prior art, this invention provides a torsional actuation piezoelectric stick-slip drive system and its driving method. Through a unique torsional drive flexible mechanism design and precise matching of piezoelectric ceramics, it achieves an effective combination of high speed and high precision, significantly reducing the size of the actuator, realizing the miniaturization of the device, and helping to improve the integration and operational flexibility of the device.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A torsional actuation piezoelectric stick-slip drive system includes a piezoelectric flexible hinge actuator, a platform base, a platform top cover, and two crossed roller guides. The platform top cover is slidably mounted on the surface of the platform base via the two parallel crossed roller guides. The piezoelectric flexible hinge actuator consists of a torsional actuation flexible mechanism and two piezoelectric ceramics. The torsional actuation flexible mechanism is an integral structure, including a hinge top plate and a hinge base, as well as a central support arm and two side support arms for connecting the two. A semi-cylindrical drive foot is integrally formed at the center of the top of the hinge top plate and contacts the side of the platform top cover. Two through holes are provided on both sides of the hinge base, and two fixing... The bolts and nuts are used to install and fix the platform base. Bottom torsion hinges and top torsion hinges are respectively set at the connection points of the middle support arm with the hinge base and the hinge top plate. Four bridge hinges are set sequentially from the connection point of the hinge base to the connection point of the hinge top plate of the two side support arms, dividing the two side support arms into three-segment structures. The first and last bridge hinges serve as connection points and are arranged on the outer edges of the two side support arms. The two middle bridge hinges are arranged on the inner edges of the two side support arms. The two piezoelectric ceramics are respectively installed in the two cavities between the middle support arm and the two side support arms of the torsion drive type flexible mechanism, and are supported between the hinge top plate and the hinge base.

[0007] Furthermore, a grating ruler is fixed to the bottom surface of the platform top cover, and a reading head is fixed at a corresponding position on the surface of the platform base. The movement of the platform top cover is measured by the cooperation of the reading head and the grating ruler.

[0008] Furthermore, two elongated holes are machined along the vertical direction of the platform top cover at the positions corresponding to the two fixing bolts on the platform base.

[0009] Furthermore, two fine-tuning threaded holes are integrally provided on the side edge of the platform base. The two fine-tuning threaded holes are correspondingly provided on both sides of the bottom end of the hinge base. Two fine-tuning bolts are screwed into the two fine-tuning threaded holes to support and limit the two sides of the bottom end of the hinge base. Each of the two fine-tuning bolts is equipped with a locking nut.

[0010] Furthermore, two pre-tightened hinges are provided at the top of the hinge base and at the support points corresponding to the two piezoelectric ceramics.

[0011] Furthermore, two pre-tightening threaded holes are machined at the bottom end of the hinge base along the axial direction of the two piezoelectric ceramics. Two pre-tightening bolts are screwed into the two pre-tightening threaded holes to contact the corresponding pre-tightening hinges, causing them to deform and pre-tighten and position the piezoelectric ceramics relative to the torsion-driven flexible mechanism. Each of the two pre-tightening bolts is equipped with a locking nut.

[0012] A driving method for a torsional actuated piezoelectric stick-slip drive system includes the following steps:

[0013] During actual operation, the piezoelectric flexible hinge actuator only extends and retracts the piezoelectric ceramic on one side at any given time. The piezoelectric ceramic is energized according to the movement direction requirement of the platform top cover. A sawtooth wave periodic voltage signal is applied to the piezoelectric ceramic, and the voltage is divided into two stages of rising and falling within one cycle.

[0014] During the voltage rise phase, the piezoelectric ceramic on the energized side elongates, causing the hinge top plate to deflect, and the semi-cylindrical drive foot moves the platform top cover under static friction.

[0015] During the voltage drop phase, the piezoelectric ceramic on the energized side shortens, and the deflected hinge top plate returns to its initial shape under the stress of the torsional drive flexible mechanism. Due to sliding friction and inertia, the platform top cover does not follow the semi-cylindrical drive foot back to its original position.

[0016] By repeating the periodic voltage rise and fall phases, the piezoelectric flexible hinge actuator controls the top cover of the platform to perform periodic step displacement output.

[0017] Furthermore, within one cycle of the sawtooth wave periodic voltage signal, the duration of the voltage drop phase is shorter than the duration of the voltage rise phase.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. Combination of high speed and high precision: Stick-slip drive technology successfully solves the shortcomings of traditional inchworm and ultrasonic motor types in terms of power output, resolution and high-precision control, and achieves an effective combination of high speed and high precision, making it more suitable for precision positioning and micro mechanical devices;

[0020] 2. Precise mechanical fit: The high precision of stick-slip drive is due to the precise fit between piezoelectric ceramics and torsional drive flexible mechanism, which can provide better driving effect;

[0021] 3. Miniaturized design: By using a piezoelectric flexible hinge actuator with torsion actuation, the size of the actuator can be significantly reduced while maintaining high speed and high mechanical resolution, thus achieving miniaturization of the device. This helps to improve the integration and operational flexibility of the device and broaden its application in high-tech fields.

[0022] 4. Novelty and Practicality: Through the unique torsional drive flexible mechanism design and the use of piezoelectric ceramics, not only are the limitations of existing technologies overcome, but also a technological improvement with practical value is achieved, expanding the application potential and pathways of stick-slip drive technology. Attached Figure Description

[0023] Figure 1 This is an overall structural diagram of the torsional actuation piezoelectric stick-slip drive system of the present invention;

[0024] Figure 2 This is an exploded view of the torsional actuation piezoelectric stick-slip drive system of the present invention;

[0025] Figure 3 This is a structural diagram of the torsion-driven flexible mechanism in this invention;

[0026] Figure 4 This is a structural diagram of the platform base in this invention;

[0027] Figure 5 This is a schematic diagram of the sawtooth wave periodic voltage signal of the piezoelectric flexible hinge actuator in this invention;

[0028] Figure 6 This is an application structure diagram of the torsional actuation piezoelectric stick-slip drive system of the present invention in the embodiments.

[0029] In the diagram: 1. Piezoelectric flexible hinge actuator; 2. Platform base; 3. Crossed roller guide; 4. Platform top cover; 5. Mounting plate; 6. Reading head; 7. Grating ruler; 8. Controller; 1-1. Torsional drive type flexible mechanism; 1-2. Piezoelectric ceramic; 1-3. Preload bolt; 1-4. Locking nut one; 1-5. Fixing bolt; 2-1. Long slot; 2-2. Fine-tuning threaded hole; 2-3. Fine-tuning bolt; 2-4. Locking nut two; 1-1-1. Semi-cylindrical Drive foot; 1-1-2, Hinge top plate; 1-1-3, Upper connecting block; 1-1-4, Middle connecting block; 1-1-5, Lower connecting block; 1-1-6, Through hole; 1-1-7, Pre-tightening threaded hole; 1-1-8, Bottom torsion hinge; 1-1-9, Pre-tightening hinge; 1-1-10, Bridge hinge one; 1-1-11, Bridge hinge two; 1-1-12, Bridge hinge three; 1-1-13, Bridge hinge four; 1-1-14, Top torsion hinge. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] like Figures 1-4 As shown, a torsion-actuated piezoelectric stick-slip drive system includes a piezoelectric flexible hinge actuator 1, a platform base 2, a cross roller guide rail 3, a platform top cover 4, a mounting plate 5, a reading head 6, and a grating ruler 7.

[0032] Overall platform assembly, combined Figures 1-2As shown, the platform base 2 is fixed to the working surface with screws and holes around its perimeter. Two cross roller guides 3 are placed side-by-side on the surface of the platform base 2. The fixed track portions of the two cross roller guides 3 are connected and fixed to the platform base 2 with screws. The platform top cover 4 is mounted on the two cross roller guides 3 and connected and fixed to the sliding track portions of the two cross roller guides 3 with screws, thus combining the platform base 2 and the platform top cover 4. The two track portions and ball bearings of the cross roller guides 3 are fully engaged. The preload is adjusted to ensure that the cross roller guides 3 can run smoothly within their stroke. In addition, the piezoelectric flexible hinge actuator 1 is installed on the platform base 2 on the side of the platform top cover 4 to drive the platform top cover 4 to move along the sliding direction of the two cross roller guides 3. To facilitate accurate feedback on the movement distance of the platform top cover 4, a grating ruler 7 is attached and fixed to the bottom surface of the platform top cover 4, and a reading head 6 is fixed to the corresponding position on the surface of the platform base 2 via a mounting plate 5. The high-precision measurement of the movement of the platform top cover 4 is achieved through the cooperation of the reading head 6 and the grating ruler 7.

[0033] Hinge mechanism assembly, combination Figures 2-3As shown, the piezoelectric flexible hinge actuator 1 consists of two parts: a torsion-driven flexible mechanism 1-1 and two piezoelectric ceramics 1-2. The torsion-driven flexible mechanism 1-1 is an integral structure, including a hinge top plate 1-1-2, a hinge base, an intermediate support arm for connecting the two, and two side support arms. A semi-cylindrical drive foot 1-1-1 is integrally set at the middle of the top of the hinge top plate 1-1-2, which is in side contact with the platform top cover 4. Two through holes 1-1-6 are provided on both sides of the hinge base. The torsion-driven flexible mechanism 1-1 is installed and fixed to the platform base 2 by two fixing bolts 1-5 and nuts. The middle position of the bottom end of the hinge top plate 1-1-2 is connected to the middle position of the top end of the hinge base through the intermediate support arm. At the connection point between the intermediate support arm and the hinge base and the hinge top plate 1-1-2, a bottom torsion hinge 1-1-8 and a top torsion hinge 1-1-14 are respectively provided. The two sides of the bottom end of the hinge top plate 1-1-2 are connected to the corresponding positions of the top end of the hinge base through the two side support arms. The two side support arms are provided with bridge hinge one 1-1-10, bridge hinge two 1-1-11, bridge hinge three 1-1-12 and bridge hinge four 1-1-13 in sequence from the connection point of the hinge base to the connection point of the hinge top plate 1-1-2, dividing the two side support arms into a three-section structure of upper connecting block 1-1-3, middle connecting block 1-1-4 and lower connecting block 1-1-5. In this design, bridge hinge 1-1-10 and bridge hinge 4-1-13 of the two side arms serve as connection points to the hinge base and hinge top plate 1-1-2, respectively, and are arranged on the outer edges of the two side arms. Bridge hinge 2-1-11 and bridge hinge 3-1-12 of the two side arms serve as intermediate deformation points of the side arms, respectively, and are arranged on the inner edges of the two side arms. The two piezoelectric ceramics 1-2 are respectively installed in the two cavities between the intermediate arm and the two side arms of the torsion-driven flexible mechanism 1-1, and are supported between the hinge top plate 1-1-2 and the hinge base.

[0034] Hinge mechanism preload, engagement Figures 2-4As shown, the piezoelectric ceramics 1-2 are pre-tightened on the torsion-driven flexible mechanism 1-1, and the torsion-driven flexible mechanism 1-1 is pre-tightened on the platform base 2. To facilitate installation and provide pre-tightening force to the two piezoelectric ceramics 1-2, two pre-tightening hinges 1-1-9 are provided at the top of the hinge base and at the support points corresponding to the two piezoelectric ceramics 1-2. Two pre-tightening threaded holes 1-1-7 are machined along the axial direction of the two piezoelectric ceramics 1-2 at the bottom of the hinge base. By screwing in two pre-tightening bolts 1-3 to contact the corresponding pre-tightening hinges 1-1-9, deformation is generated, which simply fixes the piezoelectric ceramics 1-2 relative to the torsion-driven flexible mechanism 1-1. Based on the simulation results, the two pre-tightening bolts 1-3 need to be screwed in a fixed distance further. Using an angle wrench, the two pre-tightening bolts 1-3 are screwed into the corresponding pre-tightening threaded holes 1-1-7 by a fixed distance. Then, the pre-installed locking nuts 1-4 are used to tighten the corresponding pre-tightening bolts 1-3 in place, limiting their screwing position to prevent slippage. To facilitate fine-tuning of the installation position of the torsion-driven flexible mechanism 1-1 on the platform base 2, two elongated holes 2-1 are machined vertically along the platform top cover 4 at the positions corresponding to the two fixing bolts 1-5 on the platform base 2. After the two fixing bolts 1-5 pass through the two elongated holes 2-1, they are first loosely screwed with a single nut. The piezoelectric flexible hinge actuator 1 is then moved towards the platform top cover 4 until the semi-cylindrical drive foot 1-1-1 just contacts the platform top cover 4. At this point, the two fixing bolts 1-5 are tightened. The single nut on the platform base 2 initially fixes the piezoelectric flexible hinge actuator 1 to the platform base 2. Two fine-tuning threaded holes 2-2 are integrally set on the side edge of the platform base 2. The two fine-tuning threaded holes 2-2 are corresponding to the two sides of the bottom end of the hinge base of the torsion drive type flexible mechanism 1-1. The two sides of the bottom end of the hinge base are supported and limited by screwing in two fine-tuning bolts 2-3. Then, the pre-installed locking nut 2-4 is used to tighten and fix the corresponding fine-tuning bolts 2-3, limiting their screwing position to prevent slippage.

[0035] Before formal use, the output of the torsional drive flexible mechanism 1-1 was tested by powering on the two piezoelectric ceramics 1-2. Based on the output results, the position of the torsional drive flexible mechanism 1-1 was fine-tuned. First, the single nuts on the two fixing bolts 1-5 and the locking nuts 2-4 on the two fine-tuning bolts 2-3 were loosened. The relative position of the piezoelectric flexible hinge driver 1 and the platform base 2 was adjusted again by the two fine-tuning bolts 2-3. After adjustment, the single nuts on the two fixing bolts 1-5 and the locking nuts 2-4 on the two fine-tuning bolts 2-3 were tightened. The output of the torsional drive flexible mechanism 1-1 was tested by powering on the two piezoelectric ceramics 1-2 again. This process was repeated until a suitable output was obtained. Finally, the two fixing bolts 1-5 were tightened with double nuts to prevent loosening.

[0036] like Figures 1-5As shown, a driving method for a torsional actuated piezoelectric stick-slip drive system includes the following steps:

[0037] Before formal use, the torsional drive flexible mechanism 1-1 and the two piezoelectric ceramics 1-2 were pre-tightened. After power-on testing and adjustment, it was ensured that the piezoelectric flexible hinge actuator 1 could provide appropriate output. During actual driving, only one side of the piezoelectric ceramic 1-2 extended or contracted at any given time (due to the inverse piezoelectric characteristics of the piezoelectric ceramic 1-2, after applying a certain voltage to the piezoelectric ceramic 1-2, the piezoelectric ceramic 1-2 would elongate / shorten with the change of voltage). Based on the movement direction requirements of the platform top cover 4, one side of the piezoelectric ceramic 1-2 was selected for power-on, combined with... Figure 5 As shown in the upper part, a sawtooth wave periodic voltage signal is applied to the piezoelectric ceramic 1-2. Within one cycle, the voltage is divided into two stages: rising and falling. The time of the voltage falling stage is shorter than the time of the voltage rising stage.

[0038] During the voltage rise phase, combined with Figure 5 As shown in the middle section, the piezoelectric ceramic 1-2 on the powered side extends and is output through the top of the torsion-driven flexible mechanism 1-1, causing the hinge top plate 1-1-2 to deflect towards the piezoelectric ceramic 1-2 on the other side. The semi-cylindrical driving foot 1-1-1 deflects accordingly. Since the semi-cylindrical driving foot 1-1-1 has already contacted the platform top cover 4 before the piezoelectric ceramic 1-2 extends, the semi-cylindrical driving foot 1-1-1 and the platform top cover 4 mainly generate static friction force, which in turn drives the platform top cover 4 to move towards the piezoelectric ceramic 1-2 on the other side under the static friction force.

[0039] During the voltage drop phase, combined with Figure 5 As shown in the middle section, the piezoelectric ceramic 1-2 on the powered side shortens. Since the voltage drop phase within a cycle is short, its shortening speed is fast. The deflected hinge top plate 1-1-2 quickly returns to its initial shape under the stress of the torsional drive type flexible mechanism 1-1. At this time, the semi-cylindrical drive foot 1-1-1 and the platform top cover 4 mainly generate sliding friction. Due to inertia, the platform top cover 4 will not follow the semi-cylindrical drive foot 1-1-1 back to its original position.

[0040] By repeating the periodic voltage rise and fall phases, the piezoelectric flexible hinge actuator 1 can control the platform top cover 4 to perform periodic step displacement output. If it is necessary to control the platform top cover 4 to move in the opposite direction, the powered piezoelectric ceramic 1-2 can be replaced.

[0041] Example

[0042] The reading head 6 and the two piezoelectric ceramics 1-2 of the torsional actuation piezoelectric stick-slip drive system are connected to the controller 8, combined with Figure 6As shown, the reading head 6 cooperates with the grating ruler 7 fixed on the bottom surface of the platform top cover 4 to transmit the displacement data of the platform top cover 4 to the controller 8. The controller 8 applies a sawtooth wave periodic voltage signal to the piezoelectric ceramic 1-2 on the left side, with a frequency of 100Hz, a voltage peak of 9.6V, a signal symmetry of 97%, a drive preload of 2N, and the displacement table is unloaded.

[0043] During the voltage rise phase, the piezoelectric ceramic 1-2 on the left side elongates due to its inverse piezoelectric effect, causing the hinge top plate 1-1-2 to deflect to the upper right. The semi-cylindrical drive foot 1-1-1 deflects accordingly. The upper connecting block 1-1-3, the middle connecting block 1-1-4, and the lower connecting block 1-1-5 corresponding to the left side arm also undergo relative displacement when the hinge top plate 1-1-2 deflects. Among them, the upper connecting block 1-1-3 displaces away from the piezoelectric ceramic 1-2 and rotates clockwise, the middle connecting block 1-1-4 displaces away from the piezoelectric ceramic 1-2, and the lower connecting block 1-1-5 displaces away from the piezoelectric ceramic 1-2 and rotates counterclockwise. The upper connecting block 1-1-3, the middle connecting block 1-1-4, and the lower connecting block 1-1-5 corresponding to the right side arm undergo relative displacement in the opposite direction but with a slightly weaker amplitude. Since the semi-cylindrical drive foot 1-1-1 has already contacted the platform top cover 4 before the piezoelectric ceramic 1-2 extends, when the semi-cylindrical drive foot 1-1-1 deflects to the upper right, its contact point with the platform top cover 4 simultaneously generates displacement to the right and upward. Since the upward displacement increases the frictional force, the frictional force between the semi-cylindrical drive foot 1-1-1 and the platform top cover 4 is mainly static friction. The displacement to the right then drives the platform top cover 4 to move to the right.

[0044] During the voltage drop phase, the piezoelectric ceramic 1-2 on the left side also shortens due to its inverse piezoelectric effect. Since the voltage drop phase is short within a cycle, its shortening speed is fast. Under the stress of the torsional drive flexible mechanism 1-1 (bottom torsional hinge 1-1-8, bridge hinge one 1-1-10, bridge hinge two 1-1-11, bridge hinge three 1-1-12, bridge hinge four 1-1-13, top torsional hinge 1-1-14), the deflected hinge top plate 1-1-2 quickly returns to its initial shape. The semi-cylindrical drive foot 1-1-1 then displaces to the left and downward. At this time, the platform top cover 4 cannot completely follow the semi-cylindrical drive foot 1-1-1 to move to the original position to the left due to inertia. The semi-cylindrical drive foot 1-1-1 and the platform top cover 4 mainly generate sliding friction. Due to the existence of sliding friction during this phase, the platform top cover 4 will not return to the initial position with the torsional drive flexible mechanism 1-1.

[0045] By repeating the periodic voltage rise and fall phases, the piezoelectric flexible hinge actuator 1 controls the top cover 4 of the control platform to perform periodic stepping displacement output to the right. Under this configuration, the minimum step size of the displacement stage's stepping motion was measured to be 60 nm, at which point the speed was 6 μm / s.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A torsion actuated piezoelectric stick-slip driving system, comprising a platform base (2), a platform top cover (4) and two cross roller guides (3), the platform top cover (4) is slidingly installed by the two cross roller guides (3) arranged side by side on the surface of the platform base (2), characterized in that: The driving system further comprises a piezoelectric flexible hinge driver (1) which is composed of a torsion driving flexible mechanism (1-1) and two piezoelectric ceramics (1-2), the torsion driving flexible mechanism (1-1) is an integrated structure which comprises a hinge top plate (1-1-2) and a hinge base as well as an intermediate support arm and two side support arms for connecting the two, the hinge top plate (1-1-2) is integrally provided with a semicylindrical driving foot (1-1-1) at the middle of the top end and is in contact with the side of the platform top cover (4), the hinge base is provided with two through holes (1-1-6) on both sides and is fixedly installed with the platform base (2) through two fixed bolts (1-5) combined with nuts, the intermediate support arm is respectively provided with a bottom torsion hinge (1-1-8) and a top torsion hinge (1-1-14) at the connecting points with the hinge base and the hinge top plate (1-1-2), the two side support arms are divided into three sections by four bridge hinges which are sequentially arranged from the connecting point of the hinge base to the connecting point of the hinge top plate (1-1-2), wherein the two bridge hinges at the head and tail are arranged at the outer edges of the two side support arms as connecting points, and the two bridge hinges in the middle are arranged at the inner edges of the two side support arms, the two piezoelectric ceramics (1-2) are respectively installed in the two cavities between the intermediate support arm and the two side support arms of the torsion driving flexible mechanism (1-1) and are supported between the hinge top plate (1-1-2) and the hinge base, and the driving method comprises the following steps: During actual driving, only one side of the piezoelectric ceramic (1-2) of the piezoelectric flexible hinge driver (1) is stretched or contracted at the same time, the piezoelectric ceramic (1-2) is powered according to the movement direction requirement of the platform top cover (4), the piezoelectric ceramic (1-2) is loaded with a sawtooth periodic voltage signal, and the voltage is divided into two stages of rising and falling in a period, and the time of the voltage falling stage is less than that of the voltage rising stage in a period of the sawtooth periodic voltage signal; In the voltage rising stage, the piezoelectric ceramic (1-2) on the powered side is elongated to cause the hinge top plate (1-1-2) to deflect, and the semicylindrical driving foot (1-1-1) drives the platform top cover (4) to move under the action of static friction; In the voltage falling stage, the piezoelectric ceramic (1-2) on the powered side is shortened, the deflected hinge top plate (1-1-2) restores to the initial state under the stress of the torsion driving flexible mechanism (1-1), and the platform top cover (4) does not return to the original position following the semicylindrical driving foot (1-1-1) due to the sliding friction and inertia; The voltage rising and falling stages are repeated periodically, and the piezoelectric flexible hinge driver (1) controls the platform top cover (4) to perform periodic step displacement output.

2. A torsional actuation piezoelectric stick-slip drive system according to claim 1, wherein: The platform top cover (4) is fixed with a grating ruler (7) on the bottom surface, and the platform base (2) is fixed with a reading head (6) on the corresponding position on the surface, and the movement of the platform top cover (4) is measured by cooperation of the reading head (6) and the grating ruler (7).

3. A torsional actuation piezoelectric stick-slip drive system according to claim 1 or 2, wherein: The platform base (2) and two fixed bolts (1-5) corresponding position along the platform top cover (4) vertical direction processing two long holes (2-1).

4. A torsional actuation piezoelectric stick-slip drive system according to claim 3, wherein: The platform base (2) side edge is integrally provided with two fine adjustment threaded holes (2-2), the two fine adjustment threaded holes (2-2) are correspondingly arranged on the two sides of the bottom end of the hinge base, the two fine adjustment threaded holes (2-2) are screwed into two fine adjustment bolts (2-3) to support and limit the two sides of the bottom end of the hinge base, and the two fine adjustment bolts (2-3) are respectively loaded with two locking nuts (2-4).

5. A torsional actuation piezoelectric stick-slip drive system according to claim 1, wherein: The top end of the hinge base is provided with two pre-tightening hinges (1-1-9) at the corresponding support points of the two piezoelectric ceramics (1-2).

6. A torsional actuation piezoelectric stick-slip drive system according to claim 5, wherein: The bottom end of the hinge base is machined along the axial direction of the two piezoelectric ceramics (1-2) to form two pre-tightening threaded holes (1-1-7), the two pre-tightening threaded holes (1-1-7) are screwed into two pre-tightening bolts (1-3) to contact the corresponding pre-tightening hinges (1-1-9) to make them deform, thereby pre-tightening and positioning the piezoelectric ceramics (1-2) relative to the torsion-driven flexible mechanism (1-1), and the two pre-tightening bolts (1-3) are respectively loaded with two locking nuts (1-4). The top end of the hinge base is provided with two pre-tightening hinges (1-1-9) at the corresponding support points of the two piezoelectric ceramics (1-2).

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