CN110289785B - Three-degree-of-freedom piezoelectric directional adjustment device for power failure maintenance and platform control method - Google Patents
Three-degree-of-freedom piezoelectric directional adjustment device for power failure maintenance and platform control method Download PDFInfo
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- H—ELECTRICITY
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- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
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Abstract
A three-degree-of-freedom piezoelectric pointing adjusting device and a platform control method for power failure maintenance are disclosed, and the device comprises a platform, a base and three or four adjusting mechanisms; each adjusting mechanism comprises a mandril, a driving mechanism, a braking mechanism and a supporting body; the upper end of the ejector rod is fixed on the platform, a universal flexible hinge is processed on the ejector rod and positioned between the upper part of the support body and the platform, and the support body is fixed on the base; the method comprises the following steps: the adjusting mechanism, the platform and the base are assembled, the self-locking state of the ejector rod is released, and the adjusting device controls the platform to realize three-degree-of-freedom adjustment. The device has compact structure, is used in a space environment, runs stably and reliably, can realize three-degree-of-freedom adjustment of the platform, and can meet the application requirement of the space environment.
Description
Technical Field
The invention relates to a piezoelectric driving adjusting device and method, in particular to a three-degree-of-freedom piezoelectric directional adjusting device for power failure maintenance and a platform control method, and belongs to the field of piezoelectric precision driving.
Background
With the rapid development of science and technology, ultra-precise positioning and pointing mechanisms are urgently needed in the fields of optics, semiconductors, machining and the like, particularly in the field of space, when deep space exploration, laser communication, laser ranging and the like are rapidly developed, high-precision pointing of a platform is an important index, and the pointing of the platform is often required to be adjusted by using a high-precision pointing adjusting mechanism.
At present, the pointing adjustment mechanism mainly has two forms, one is the pointing adjustment mechanism driven by a transmission motor, and the other is the pointing adjustment mechanism driven by an inverse piezoelectric effect. The traditional motor is used for driving, so that the whole mechanism is large in size, long in transmission chain, complex to control and large in weight, and the application of the mechanism to the space field with requirements on small weight and small size is not facilitated. The patent application with the publication number of CN109889084A provides a piezoelectric-driven ultra-precision feeding posture adjusting device and an excitation method thereof, a driving platform of the invention can not realize power-off maintenance after posture adjustment, a piezoelectric driving unit needs to be powered on all the time to keep the position and the angle of the adjusted platform unchanged, and the service life of a piezoelectric device is lost; the patent application with the publication number of CN108054512A provides a large-torque anti-interference antenna pointing mechanism for deep space exploration, which needs to output a holding torque by electrifying a brake, realizes the holding of the mechanism and cannot realize power-off self-locking; patent application No. 201710583870.X provides a large deflection angle piezoelectric two-dimensional pointing mechanism with a decoupling function and a driving method, one-level lever amplification is adopted, the amplification factor of micro displacement is limited, so that the range of an output external rotation angle is limited, and the lever mechanism is in an asymmetric structure, so that the requirement on the position arrangement of a piezoelectric stack is high, and the amplification factor is influenced in a key way. Therefore, the adjustable angle range of the existing piezoelectric driving mechanism is small, the piezoelectric driving mechanism needs to be powered on all the time during working, the power-off self-locking function is not provided, the waste of electric energy is caused, and meanwhile, the long-time power-on of the piezoelectric stack causes the loss of the service life of the piezoelectric stack.
Disclosure of Invention
The invention provides a piezoelectric directional adjusting device with three degrees of freedom, which is compact in structure, large in platform adjusting range and reliable in operation in a space environment and is kept in a power-off state, so as to overcome the defects of the prior art.
The invention also provides a platform control method for realizing large-angle range adjustment and vertical displacement adjustment of the platform and reliably operating the three-degree-of-freedom piezoelectric pointing adjusting device by power failure.
The technical scheme of the invention is as follows:
the first scheme is as follows: a three-degree-of-freedom piezoelectric directional adjusting device for power failure maintenance comprises a platform, a base and three or four adjusting mechanisms; three or four adjusting mechanisms are uniformly arranged on the base; each adjusting mechanism comprises a mandril, a driving mechanism, a braking mechanism and a supporting body;
the driving mechanism comprises a driving piezoelectric stack and a micro-displacement amplifying structure; the braking mechanism comprises two braking triangular amplifying structures and two braking piezoelectric stacks; a brake piezoelectric stack is arranged in each brake triangular amplification structure, the opposite output ends of the two brake triangular amplification structures are fixedly connected with a support body, a vertically arranged ejector rod is arranged between the adjacent output ends of the two brake triangular amplification structures, the ejector rod is arranged on the support body in a sliding manner, and the ejector rod is clamped and locked by the two brake triangular amplification structures in a brake piezoelectric stack power-off state; the bottom end of the ejector rod is in contact with the output end of the micro-displacement amplification structure, the micro-displacement amplification structure is driven by the driving piezoelectric stack to output an upward driving force to be transmitted to the ejector rod in the electrified state of the driving piezoelectric stack, and the micro-displacement amplification structure is fixed on the support body;
the upper end of the ejector rod is fixed on the platform, a universal flexible hinge is processed on the ejector rod and is positioned between the upper part of the supporting body and the platform, and the supporting body is fixed on the base.
Scheme II: a platform control method for a three-degree-of-freedom piezoelectric directional adjusting device with power failure maintenance comprises the following steps:
firstly, after three or four adjusting mechanisms are uniformly arranged, the adjusting mechanisms, the platform and the base are assembled,
in the initial state, the piezoelectric stack is driven to be powered off, and the driving mechanism does not generate thrust on the ejector rod; the brake piezoelectric stack is not electrified, and the ejector rod is clamped by the initial pretightening force of the brake mechanism to realize power-off maintenance;
the brake piezoelectric stacks of the two, three or four adjusting mechanisms are electrified at the same time, the brake piezoelectric stacks stretch, the brake triangular amplifying structure contracts to generate restoring force, and the self-locking state of the ejector rod is released;
thirdly, the brake piezoelectric stacks of the three or four adjusting mechanisms continue to be electrified at the same time, the brake piezoelectric stacks stretch, and the brake triangular amplifying structure keeps restoring force; three or four driving piezoelectric stacks are electrified simultaneously to drive the piezoelectric stacks to extend, the four adjusting mechanisms obtain the same electrified regular voltage, the four micro-displacement amplifying structures synchronously generate vertical upward driving force, ejector rods of the four adjusting mechanisms output linear micro-displacement delta X on the Z axis with the same size, and the platform obtains a displacement delta X on the movement freedom degree of the Z axis;
or the brake piezoelectric stacks of the three or four adjusting mechanisms continue to be electrified at the same time, the brake piezoelectric stacks stretch, and the brake triangular amplifying structures keep restoring force;
if the three adjusting mechanisms form a triangular arrangement mode, a plane XY coordinate system is constructed by using any two bisectors of the triangle, the driving piezoelectric stacks of the two adjusting mechanisms corresponding to two sides of any bisector are electrified to obtain different electrified regular voltages, the driving piezoelectric stack of the other adjusting mechanism is not electrified, the electrified two adjusting mechanisms output different driving forces under the amplification effect of the micro-displacement amplification structure, the corresponding ejector rods output linear micro-displacements with different sizes to generate a displacement difference, and the platform respectively obtains a rotation angle on the rotation freedom degree of taking any two bisectors as an X axis or a Y axis based on the flexible effect of the universal flexible hinge;
if the platform is provided with four adjusting mechanisms, a regular quadrilateral arrangement mode is formed, a plane XY coordinate system is constructed by two central lines which are perpendicular to each other, the driving piezoelectric stacks of the two adjusting mechanisms corresponding to two sides of one central line are electrified to obtain different electrified regular voltages, the driving piezoelectric stacks of the other two adjusting mechanisms are powered off, the two electrified adjusting mechanisms output different driving forces under the amplification effect of the micro-displacement amplification structure, the corresponding ejector rods output linear micro-displacements with different sizes to generate a displacement difference, and the platform respectively obtains a rotation angle on the rotation freedom degree by taking the two central lines as an X axis or a Y axis based on the flexible effect of the universal flexible hinge.
Compared with the prior art, the invention has the following effects:
1. each adjusting mechanism amplifies the micro displacement output by the driving piezoelectric stack through a lever and triangle composite amplification or triangle amplification or lever amplification driving mechanism, so that the ejector rod obtains amplified linear displacement, the adjusting range of the platform corner is further enlarged, and the high precision of angle adjustment is ensured.
2. The lever-triangle composite amplification structure or the triangle amplification structure or the lever amplification structure adopted by the driving mechanism of each adjusting mechanism is designed in a symmetrical mode, the requirement on the position arrangement of the piezoelectric stack is low, the installation error can be automatically compensated, the amplification multiple accuracy of the driving mechanism is ensured, and errors are not generated due to manual installation.
3. Every guiding mechanism utilizes brake mechanism to realize removing the ejector pin and keeping when braking piezoelectric stack circular telegram, press from both sides tight ejector pin both sides when braking piezoelectric stack outage for the ejector pin position keeps unchangeable at the brake piezoelectric stack non-electrified state, thereby realize whole guiding mechanism outage and keep, reduce the loss of long-time circular telegram of drive piezoelectric stack to its life-span, reduce the consumption of electric energy, rely on mechanical structure to keep the position when the outage simultaneously, it is higher to keep the reliability in electrified relatively, use in space environment, the operation is more reliable.
4. The directional adjusting device uses the piezoelectric stack, three or four adjusting mechanisms are uniformly distributed, the structure is compact, the using space can be greatly saved in use, and the directional adjusting device is more suitable for tasks requiring small mounting space in the aerospace field.
5. Three adjusting mechanisms construct a plane XY coordinate system by using a median line, four adjusting mechanisms construct the plane XY coordinate system by using the median line, and the three adjusting mechanisms utilize two adjusting mechanisms at two sides of the median line to output displacement difference or two symmetrical adjusting mechanisms output displacement difference in the four adjusting mechanisms to realize the angle adjustment of the rotational freedom degrees of the X axis and the Y axis; three or four adjusting mechanisms are used for outputting the same displacement at the same time to realize the displacement adjustment of the Z-axis movement freedom degree of the platform. The adjusting device realizes adjustment of three degrees of freedom and can meet part of application requirements of space environment.
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a perspective view of a three-degree-of-freedom piezoelectric pointing adjustment device with power-off retention according to the present invention;
FIG. 2 is a working diagram of the platform of the three-degree-of-freedom piezoelectric pointing adjustment device for maintaining vertical displacement when power is off according to the present invention;
FIG. 3 is a working diagram of the platform of the three-degree-of-freedom piezoelectric pointing adjustment device rotating around the X-axis during power-off maintenance according to the present invention;
FIG. 4 is a working diagram of the platform of the three-degree-of-freedom piezoelectric pointing adjustment device rotating around the Y-axis under power-off maintenance according to the present invention;
FIG. 5 is a block diagram of an orthogonal adjustment mechanism using a combination of levers and triangles;
FIG. 6 is a top view of the braking mechanism of FIG. 5;
FIG. 7 is a side view of FIG. 5;
FIG. 8 is a structural view of an orthogonal adjustment mechanism using a triangular magnification;
FIG. 9 is a block diagram of an orthogonal adjustment mechanism using lever amplification;
FIG. 10 is a block diagram of an orthogonal adjustment mechanism using two-stage lever amplification;
FIG. 11 is a block diagram of a flat adjustment mechanism using a lever and triangle combination magnification;
FIG. 12 is a view showing a structure of a flat type adjusting mechanism using a triangular enlargement;
FIG. 13 is a block diagram of a flat adjustment mechanism using lever amplification;
FIG. 14 is a block diagram of a flat adjustment mechanism using two-stage lever amplification;
fig. 15 is a schematic view of the operating principle of the adjustment mechanism.
The adjusting mechanism comprises an ejector rod, a spacer, a fixing bolt, a lever amplifying structure, a second-level lever amplifying structure, a driving triangle amplifying structure, a spacer, a pre-tightening bolt, a cover plate, a driving piezoelectric stack, a driving support body, a braking triangle amplifying structure, a driving triangle amplifying structure, a pre-tightening bolt, a cover plate, a driving piezoelectric stack, a driving support body, a braking piezoelectric stack, a braking support body, a micro-displacement amplifying structure, a support body, F0, initial braking force, F1, restoring force, F2, driving force, delta X, ejector rod amplifying displacement, 20, a platform, a base.
Detailed Description
Referring to fig. 1-4, one embodiment provides a three-degree-of-freedom piezoelectric pointing adjustment device with power-off maintenance, which includes a platform 20, a base 21, and three or four adjustment mechanisms a; three or four adjusting mechanisms A are uniformly arranged on the base 21;
each adjusting mechanism A comprises a mandril 1, a driving mechanism, a braking mechanism and a support body D;
the driving mechanism comprises a driving piezoelectric stack 9 and a micro-displacement amplifying structure B;
the braking mechanism comprises two braking triangular amplifying structures 11 and two braking piezoelectric stacks 12;
a brake piezoelectric stack 12 is arranged in each brake triangular amplification structure 11, the opposite output ends of the two brake triangular amplification structures 11 are fixedly connected with a support body D, a vertically arranged ejector rod 1 is arranged between the adjacent output ends of the two brake triangular amplification structures 11, the ejector rod 1 is arranged on the support body D in a sliding manner, and the ejector rod 1 is clamped and locked by the two brake triangular amplification structures 11 in a power-off state of the brake piezoelectric stacks 12; the bottom end of the ejector rod 1 is in contact with the output end of the micro-displacement amplification structure B, the micro-displacement amplification structure B is driven by the driving piezoelectric stack 9 to output an upward driving force to be transmitted to the ejector rod 1 under the power-on state of the driving piezoelectric stack 9, and the micro-displacement amplification structure B is fixed on the support body D;
the upper end of the ejector rod 1 is fixed on the platform 20, a universal flexible hinge 101 is processed on the ejector rod 1, the universal flexible hinge 101 is located between the upper portion of the support body D and the platform 20, and the support body D is fixed on the base 21. The mode of four rectangular channels of three rectangular channels of equipartition or array symmetry processing on platform 20, the degree of depth and the width in groove are calculated by the requirement given, and 1 upper end of ejector pin is the rectangle, installs and realizes circumference fixed in the rectangular channel, and 1 upper end processing of ejector pin has the external screw thread, and platform 20 rectangular channel top processing has the through-hole, through-hole and external screw thread zonulae occludens platform 20 and guiding mechanism A.
As shown in fig. 1-4, another embodiment provides a method for controlling a platform of a three-degree-of-freedom piezoelectric pointing adjustment device in a power-off state, comprising the following steps:
firstly, after three or four adjusting mechanisms A are uniformly arranged, the adjusting mechanisms A, the platform 20 and the base 21 are assembled,
in the initial state, the piezoelectric stack 9 is driven to be powered off, and the driving mechanism does not generate thrust on the ejector rod 1; the piezoelectric stack 12 is braked to be powered off, and the ejector rod 1 is clamped by the initial pretightening force F0 of the brake mechanism to realize power-off holding;
the brake piezoelectric stacks 12 of the two, three or four adjusting mechanisms A are electrified simultaneously, the brake piezoelectric stacks 12 extend, the brake triangular amplifying structure 11 contracts to generate a restoring force F1, and the self-locking state of the ejector rod 1 is released;
the brake piezoelectric stacks 12 of the three, three or four adjusting mechanisms A are continuously electrified at the same time, the brake piezoelectric stacks 12 extend, and the brake triangular amplifying structure 11 maintains the restoring force F1; three or four driving piezoelectric stacks 9 are electrified simultaneously, the driving piezoelectric stacks 9 are extended, the four adjusting mechanisms obtain the same electrified regular voltage, the four micro-displacement amplifying structures B synchronously generate a vertical upward driving force F2, ejector rods 1 of the four adjusting mechanisms output linear micro-displacement delta X on the Z axis with the same size, and the platform 20 obtains a displacement delta X on the Z-axis movement freedom degree;
or the brake piezoelectric stacks 12 of the three or four adjusting mechanisms A are continuously electrified at the same time, the brake piezoelectric stacks 12 extend, and the brake triangular amplifying structure 11 maintains the restoring force F1;
if the three adjusting mechanisms A form a triangular arrangement mode, a plane XY coordinate system is constructed by using any two bisectors of a triangle, the driving piezoelectric stacks 9 of the two adjusting mechanisms A corresponding to two sides of any bisector are electrified to obtain different electrified regular voltages, the driving piezoelectric stack 9 of the other adjusting mechanism A is powered off, the two electrified adjusting mechanisms A output different driving forces under the amplification effect of the micro-displacement amplification structure B, the corresponding ejector rods 1 output linear micro-displacements with different sizes to generate a displacement difference, and based on the flexible effect of the universal flexible hinge 101, the platform 20 respectively obtains a rotation angle theta on the rotational freedom degree of any two bisectors serving as an X axis or a Y axis;
if the number of the four adjusting mechanisms A is a regular quadrilateral arrangement, a plane XY coordinate system is constructed by two central lines which are perpendicular to each other, the driving piezoelectric stacks 9 of the two adjusting mechanisms A corresponding to two sides of one central line are electrified to obtain different electrified regular voltages, the driving piezoelectric stacks 9 of the other two adjusting mechanisms A are powered off, the two electrified adjusting mechanisms A output different driving forces under the amplification effect of the micro-displacement amplification structure B, the corresponding ejector rods 1 output linear micro-displacements with different sizes to generate a displacement difference, and based on the flexible effect of the universal flexible hinge 101, the platform 20 respectively obtains a rotation angle theta on the rotational freedom degree by taking the two central lines as an X axis or a Y axis.
Three adjusting mechanisms construct a plane XY coordinate system by using a median line, four adjusting mechanisms construct the plane XY coordinate system by using the median line, and the three adjusting mechanisms utilize two adjusting mechanisms at two sides of the median line to output displacement difference or two symmetrical adjusting mechanisms output displacement difference in the four adjusting mechanisms to realize the angle adjustment of the rotational freedom degrees of the X axis and the Y axis; three or four adjusting mechanisms are used for outputting the same displacement at the same time to realize the displacement adjustment of the Z-axis movement freedom degree of the platform. The adjusting device realizes adjustment of three degrees of freedom and can meet the application requirements of space environment.
The adjusting mechanism A is expanded by the following embodiments:
example 1, referring to fig. 5 to 7, the driving piezoelectric stack 9 of each of the adjustment mechanisms a of the present example is horizontally arranged and perpendicular to the length direction of the two braking piezoelectric stacks 12, and the braking piezoelectric stacks 12 are horizontally arranged;
each adjusting mechanism A comprises a mandril 1, a driving mechanism, a braking mechanism and a support body D;
the driving mechanism comprises a driving piezoelectric stack 9 and a micro-displacement amplifying structure B;
the braking mechanism comprises two braking triangular amplifying structures 11 and two braking piezoelectric stacks 12;
a brake piezoelectric stack 12 is arranged in each brake triangular amplification structure 11, the opposite output ends of the two brake triangular amplification structures 11 are fixedly connected with a support body D, a vertically arranged ejector rod 1 is arranged between the adjacent output ends of the two brake triangular amplification structures 11, the ejector rod 1 is arranged on the support body D in a sliding manner, and the ejector rod 1 is clamped and locked by the two brake triangular amplification structures 11 in a power-off state of the brake piezoelectric stacks 12; the micro-displacement amplifying structure B is a lever and triangle composite amplifying structure, and comprises: a lever amplifying structure 4 and a driving triangular amplifying structure 5 positioned at the lower part of the lever amplifying structure 4; a driving piezoelectric stack 9 is arranged in the driving triangular amplification structure 5, the driving triangular amplification structure 5 and the lever amplification structure 4 are respectively connected with the support body D, one single-side output end of the driving triangular amplification structure 5 is contacted with the input end of the lever amplification structure 4, and the output end of the lever amplification structure 4 is contacted with the bottom end of the ejector rod 1; under the power-on state of the driving piezoelectric stack 9, the micro-displacement amplification structure B is driven by the driving piezoelectric stack 9 to output an upward driving force to be transmitted to the ejector rod 1; the upper end of the ejector rod 1 is fixed on the platform 20, a universal flexible hinge 101 is processed on the ejector rod 1, the universal flexible hinge 101 is located between the upper portion of the support body D and the platform 20, and the support body D is fixed on the base 21.
The lever amplifying structure 4 and the triangular amplifying structure 5 are both designed symmetrically, and the lever-triangular composite amplifying whole is also designed symmetrically. In the embodiment, when the brake piezoelectric stack 12 is in an electrified state, the brake piezoelectric stack 12 drives the output end of the triangular amplifying structure (the structure with the inclined edge inclined outwards from the middle part) 5 to retract inwards, and the ejector rod 1 is released; under the power-on state of the driving piezoelectric stack 9, the driving triangular amplification structure 5 (a structure with the bevel edge inclined to the middle part) is driven by the driving piezoelectric stack 9 to output an upward driving force to the input end of the lever amplification structure 4, the driving triangular amplification structure is output to the ejector rod 1 from the output end of the lever amplification structure 4, the ejector rod 1 is released by the two braking triangular amplification structures 11, the driving single-angle amplification structure 5 and the lever amplification structure 4 are compositely output to generate a thrust force for the ejector rod 1, so that the ejector rod 1 obtains an amplified displacement, slides upwards on the support body D and acts on the platform 20.
As shown in fig. 15, the adjusting mechanism a of this embodiment is arranged in an orthogonal manner for power failure, and the clamping of the ram 1 is horizontal transverse clamping, and its working principle is: the state (1) is an initial state, and the driving piezoelectric stack 9 is not electrified, so that the driving mechanism does not generate thrust to the ejector rod 1; the two brake piezoelectric stacks 12 are not electrified, and the ejector rod 1 is kept self-locked by the initial pretightening force F0 of the two brake triangular amplification structures 11; in the state (2), the two brake piezoelectric stacks 12 are electrified, the brake piezoelectric stacks 12 are extended, the brake triangular amplification structure 11 contracts to generate a restoring force F1, and the self-locking state of the ejector rod 1 is released; in the state (3), the two braking piezoelectric stacks 12 are continuously electrified, the braking piezoelectric stacks 12 extend, and the braking triangular amplification structure 11 maintains the restoring force F1; the piezoelectric stack 9 is driven to be electrified, the piezoelectric stack 9 is driven to extend, and a micro-displacement amplification structure B consisting of the triangular amplification structure 5 and the lever amplification structure 4 generates a vertical upward driving force F2, so that the ejector rod 1 obtains an amplification displacement delta X; in the state (4), the piezoelectric stack 9 is driven to be electrified continuously, the piezoelectric stack 9 is driven to extend, and the micro-displacement amplification structure B keeps a driving force F2; the two brake piezoelectric stacks 12 are powered off, the two brake mechanisms recover to the initial positions, the ejector rod 1 is subjected to pretightening force F0 applied by the brake mechanisms, the obtained amplified displacement delta X is kept unchanged, and the ejector rod 1 realizes self-locking; in the state (5), the left and right braking piezoelectric stacks 12 are powered off, and the braking mechanism applies pretightening force F0 on the left and right sides of the ejector rod 1; the piezoelectric stack 9 is driven to be powered off, the driving mechanism restores to the initial state, the amplified displacement delta X obtained by the ejector rod 1 is not changed, and the whole device realizes power-off self-locking.
Example 3, as shown in fig. 9, this example is different from examples 1 and 2 in that: the driving piezoelectric stacks 9 are vertically arranged and are vertical to the length directions of the two braking piezoelectric stacks 12, and the braking piezoelectric stacks 12 are horizontally arranged; the micro-displacement amplifying structure B is a lever amplifying structure 4, the lever amplifying structure 4 is connected with a support body D, one end of a driving piezoelectric stack 9 is in contact with the input end of the lever amplifying structure 4, the other end of the driving piezoelectric stack 9 is connected with the support body D, and the output end of the lever amplifying structure 4 is in contact with the bottom end of the ejector rod 1. The lever amplification structure 4 is of a symmetrical design. As shown in fig. 15, the power-off holding orthogonal adjustment mechanism of this embodiment operates according to the following principle: the state (1) is an initial state, and the driving piezoelectric stack 9 is not electrified, so that the driving mechanism does not generate thrust to the ejector rod 1; the left and right braking piezoelectric stacks 12 are not electrified, and the ejector rod 1 is kept self-locked by the initial pretightening force F0 of the braking mechanism; in the state (2), the left and right braking piezoelectric stacks 12 are electrified, the braking piezoelectric stacks 12 are extended, the braking triangular amplification structure 11 contracts to generate a restoring force F1, and the self-locking state of the ejector rod 1 is released; in the state (3), the left and right braking piezoelectric stacks 12 continue to be electrified, the braking piezoelectric stacks 12 extend, and the braking triangular amplification structure 11 maintains the restoring force F1; the piezoelectric stack 9 is driven to be electrified, the piezoelectric stack 9 is driven to extend, and a driving mechanism formed by the lever amplification structure 4 generates a vertical upward driving force F2, so that the ejector rod 1 obtains a large displacement delta X; in the state (4), the piezoelectric stack 9 is driven to be electrified continuously, the piezoelectric stack 9 is driven to extend, and the driving mechanism keeps the driving force F2; the left and right braking piezoelectric stacks 12 are powered off, the braking mechanism is restored to the initial position, the ejector rod 1 is subjected to the pretightening force F0 applied by the braking mechanism, the obtained large displacement delta X is kept unchanged, and the ejector rod 1 realizes self-locking; in the state (5), the left and right braking piezoelectric stacks 12 are powered off, and the braking mechanism applies pretightening force F0 on the left and right sides of the ejector rod 1; the piezoelectric stack 9 is driven to be powered off, the driving mechanism recovers the initial state, the displacement delta X obtained by the ejector rod 1 is not changed, and the whole device realizes power-off self-locking.
Example 4, as shown in fig. 10, the present example is different from example 3 in that: the micro-displacement amplifying structure B is a second-stage lever amplifying structure 40, the second-stage lever amplifying structure 40 is connected with a support body D, one end of the driving piezoelectric stack 9 is in contact with the input end of the second-stage lever amplifying structure 40, the output end of the second-stage lever amplifying structure 40 is in contact with the bottom end of the ejector rod 1, and the other end of the driving piezoelectric stack 9 is connected with the support body D. As shown in fig. 15, the power-off holding orthogonal adjustment mechanism of this embodiment operates according to the following principle: the state (1) is an initial state, and the driving piezoelectric stack 9 is not electrified, so that the driving mechanism does not generate thrust to the ejector rod 1; the left and right braking piezoelectric stacks 12 are not electrified, and the ejector rod 1 is kept self-locked by the initial pretightening force F0 of the braking mechanism; in the state (2), the left and right brake piezoelectric stacks 12 are electrified, the brake piezoelectric stacks 12 are extended, the brake triangular amplification structure 11 contracts to generate a restoring force F1, and the self-locking state of the ejector rod 1 is released; in the state (3), the left and right brake piezoelectric stacks 12 continue to be electrified, the brake piezoelectric stacks 12 extend, and the brake triangular amplification structure 11 maintains the restoring force F1; the piezoelectric stack 9 is driven to be electrified, the piezoelectric stack 9 is driven to extend, and a driving mechanism formed by the secondary lever amplifying structure 40 generates a vertical upward driving force F2, so that the ejector rod 1 obtains a large displacement delta X; in the state (4), the piezoelectric stack 9 is driven to be electrified continuously, the piezoelectric stack 9 is driven to extend, and the driving mechanism keeps the driving force F2; the left and right braking piezoelectric stacks 12 are powered off, the braking mechanism is restored to the initial position, the ejector rod 1 is subjected to the pretightening force F0 applied by the braking mechanism, the obtained large displacement delta X is kept unchanged, and the ejector rod 1 realizes self-locking; in the state (5), the left and right braking piezoelectric stacks 12 are powered off, and the braking mechanism applies pretightening force F0 on the left and right sides of the ejector rod 1; the piezoelectric stack 9 is driven to be powered off, the driving mechanism recovers the initial state, the displacement delta X obtained by the ejector rod 1 is not changed, and the whole device realizes power-off self-locking.
Example 5, as shown in fig. 11, this example is different from example 1 in that: the driving piezoelectric stacks 9 are horizontally arranged and are vertical to the length directions of the two braking piezoelectric stacks 12; two braking piezoelectric stacks 12 are arranged vertically. Other components and connection relations are the same as those of the embodiment 1, and the working principle is the same as that of the embodiment 1.
Example 6, as shown in fig. 12, the present example is different from example 2 in that: the driving piezoelectric stacks 9 are horizontally arranged and are vertical to the length directions of the two braking piezoelectric stacks 12; two braking piezoelectric stacks 12 are arranged vertically. Other components and connection relations are the same as those of embodiment 2, and the operation principle is the same as that of embodiment 2.
Example 7, as shown in fig. 13, this example is different from example 3 in that: the driving piezoelectric stacks 9 are vertically arranged and parallel to the length directions of the two braking piezoelectric stacks 12, and the braking piezoelectric stacks 12 are vertically arranged. Other components and connection relations are the same as those of embodiment 3, and the operation principle is the same as that of embodiment 3.
Example 8, as shown in fig. 14, the present example is different from example 4 in that: the driving piezoelectric stacks 9 are vertically arranged and parallel to the length directions of the two braking piezoelectric stacks 12, and the braking piezoelectric stacks 12 are vertically arranged. Other components and connection relations are the same as those of embodiment 4, and the operation principle is the same as that of embodiment 4.
In the above embodiments 1 to 4, the support body D includes the cover plate 8, the driving support body 10, and the braking support body 14; the upper part of the driving support body 10 is provided with a braking support body 14, the braking support body 14 is covered with a cover plate 8, the braking support body 14 and the driving support body 10 are fixedly connected through a fixing bolt 3, the lever amplifying structure 4 and the driving triangle amplifying structure 5 are fixed on the driving support body 10, and the braking triangle amplifying structure 11 is fixed on the braking support body 14. As shown in fig. 5 to 10, the driving piezoelectric stack 9 and the two braking piezoelectric stacks 12 are pre-tensioned by pre-tensioning bolts 7 screwed on the driving support body 10 and the braking support body 14, respectively, and adjusting the pre-tensioning bolts 7 can change the pre-tensioning force of the driving piezoelectric stack 9 and the braking piezoelectric stack 12; as shown in fig. 2, two ends of the braking piezoelectric stack 12 directly contact the braking triangular amplification structure 11 through the gasket 2, as shown in fig. 5, two ends of the driving piezoelectric stack 9 directly contact the driving triangular amplification structure 5 through the gasket 2, and after the ejector rod 1 is clamped and locked, the outer side of the braking triangular amplification structure 11 can contact the ejector rod 1 through the gasket 2; the driving triangular amplifying structure 5 in fig. 5 is in direct contact with the lever amplifying structure 4 through the gasket 2, and the lever amplifying structure 4 is in direct contact with the bottom of the ejector rod 1 through the gasket 2; or the triangular amplifying structure 5 in fig. 8 is directly contacted with the bottom of the ejector rod 1 through the gasket 2, or the driving piezoelectric stack 9 in fig. 9 is directly contacted with the input end of the lever amplifying structure 4 and the driving support body 10 through the gasket 2 respectively, the lever amplifying structure 4 is directly contacted with the bottom of the ejector rod 1 through the gasket 2, or the driving piezoelectric stack 9 in fig. 10 is directly contacted with the input end of the secondary lever amplifying structure 40 and the driving support body 10 through the gasket 2 respectively, and the output end of the secondary lever amplifying structure 40 is directly contacted with the bottom of the ejector rod 1 through the gasket 2.
The model of the braking piezoelectric stack 12 and the driving piezoelectric stack 9 in all the above embodiments is PSt150/5x 5/20L. The ejector rod 1 is slightly displaced in the vertical direction to realize amplification through the lever amplification structure 4 and/or the driving triangular amplification structure 5 or the secondary lever amplification structure 40, and then the ejector rod 1 is fastened through a braking mechanism through braking force, so that the position of the ejector rod 1 is kept unchanged, and power-off self-locking is realized; the micro displacement amplified in the vertical direction can enable the external platform to generate a large corner, so that the large corner range of the external platform can be adjusted. The driving mechanism amplifies micro displacement by using a micro displacement amplification structure, the problem that the adjustment range of the mechanism corner is small is solved, the problem that the mechanism is not powered off and self-locked and the long-time power-on service life of the piezoelectric stack is lost is solved by the braking mechanism, and the orthogonal type is adopted in arrangement, so that the structure is compact, and the problem that the occupied space is large is solved. The whole device has the power-off self-locking capacity, does not need to be kept in a charged state, realizes amplification of output micro-displacement, and can improve the adjustment range and reliability of the whole device.
The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.
Claims (7)
1. The utility model provides a power failure keeps three degree of freedom piezoelectricity directional adjustment devices which characterized in that: the device comprises a platform (20), a base (21) and three or four adjusting mechanisms (A); three or four adjusting mechanisms (A) are uniformly arranged on the base (21);
each adjusting mechanism (A) comprises a mandril (1), a driving mechanism, a braking mechanism and a support body (D);
the driving mechanism comprises a driving piezoelectric stack (9) and a micro-displacement amplifying structure (B);
the braking mechanism comprises two braking triangular amplifying structures (11) and two braking piezoelectric stacks (12);
a brake piezoelectric stack (12) is arranged in each brake triangular amplification structure (11), the output ends of the two brake triangular amplification structures (11) which are opposite to each other are fixedly connected with a support body (D), a vertically-arranged ejector rod (1) is arranged between the adjacent output ends of the two brake triangular amplification structures (11), the ejector rod (1) is arranged on the support body (D) in a sliding mode, and the ejector rod (1) is clamped and locked by the two brake triangular amplification structures (11) in the power-off state of the brake piezoelectric stack (12); the bottom end of the ejector rod (1) is in contact with the output end of the micro-displacement amplification structure (B), the micro-displacement amplification structure (B) is driven by the driving piezoelectric stack (9) to output an upward driving force to be transmitted to the ejector rod (1) in the electrified state of the driving piezoelectric stack (9), and the micro-displacement amplification structure (B) is fixed on the support body (D); the upper end of the ejector rod (1) is fixed on the platform (20), a universal flexible hinge (101) is processed on the ejector rod (1), the universal flexible hinge (101) is positioned between the upper part of the support body (D) and the platform (20), and the support body (D) is fixed on the base (21);
the driving piezoelectric stack (9) of each adjusting mechanism (A) is horizontally arranged and is vertical to the length direction of the two braking piezoelectric stacks (12); the micro-displacement amplifying structure (B) is a lever and triangle composite amplifying structure, comprising: the device comprises a lever amplifying structure (4) and a driving triangular amplifying structure (5) positioned at the lower part of the lever amplifying structure (4); a driving piezoelectric stack (9) is installed in the driving triangle amplifying structure (5), the driving triangle amplifying structure (5) and the lever amplifying structure (4) are connected with the supporting body (D) respectively, the one-side output end of the driving triangle amplifying structure (5) is in contact with the input end of the lever amplifying structure (4), and the output end of the lever amplifying structure (4) is in contact with the bottom end of the ejector rod (1).
2. The utility model provides a power failure keeps three degree of freedom piezoelectricity directional adjustment devices which characterized in that: the device comprises a platform (20), a base (21) and three or four adjusting mechanisms (A); three or four adjusting mechanisms (A) are uniformly arranged on the base (21);
each adjusting mechanism (A) comprises a mandril (1), a driving mechanism, a braking mechanism and a support body (D);
the driving mechanism comprises a driving piezoelectric stack (9) and a micro-displacement amplifying structure (B);
the braking mechanism comprises two braking triangular amplifying structures (11) and two braking piezoelectric stacks (12);
a brake piezoelectric stack (12) is arranged in each brake triangular amplification structure (11), the output ends of the two brake triangular amplification structures (11) which are opposite to each other are fixedly connected with a support body (D), a vertically-arranged ejector rod (1) is arranged between the adjacent output ends of the two brake triangular amplification structures (11), the ejector rod (1) is arranged on the support body (D) in a sliding mode, and the ejector rod (1) is clamped and locked by the two brake triangular amplification structures (11) in the power-off state of the brake piezoelectric stack (12); the bottom end of the ejector rod (1) is in contact with the output end of the micro-displacement amplification structure (B), the micro-displacement amplification structure (B) is driven by the driving piezoelectric stack (9) to output an upward driving force to be transmitted to the ejector rod (1) in the electrified state of the driving piezoelectric stack (9), and the micro-displacement amplification structure (B) is fixed on the support body (D); the upper end of the ejector rod (1) is fixed on the platform (20), a universal flexible hinge (101) is processed on the ejector rod (1), the universal flexible hinge (101) is positioned between the upper part of the support body (D) and the platform (20), and the support body (D) is fixed on the base (21);
the driving piezoelectric stacks (9) are horizontally arranged and are vertical to the length directions of the two braking piezoelectric stacks (12); the micro-displacement amplifying structure (B) is a driving triangular amplifying structure (5), a driving piezoelectric stack (9) is installed in the driving triangular amplifying structure (5), the driving triangular amplifying structure (5) and the driving piezoelectric stack (9) are respectively connected with a support body (D), and the output end of the driving triangular amplifying structure (5) is in contact with the bottom end of the ejector rod (1).
3. The three-degree-of-freedom piezoelectric direction adjustment device for power outage maintenance according to claim 2, wherein: the brake piezoelectric stack (12) is in direct contact with the brake triangular amplification structure (11) through the gasket (2), and the drive piezoelectric stack (9) is in direct contact with the drive triangular amplification structure (5) through the gasket (2); the driving piezoelectric stacks (9) are pre-tightened through bolts (7) arranged on the driving triangular amplification structure (5) and the supporting body (D), and the two braking piezoelectric stacks (12) are pre-tightened through the bolts (7) arranged on the braking triangular amplification structure (11) and the supporting body (D) respectively.
4. The utility model provides a power failure keeps three degree of freedom piezoelectricity directional adjustment devices which characterized in that: the device comprises a platform (20), a base (21) and three or four adjusting mechanisms (A); three or four adjusting mechanisms (A) are uniformly arranged on the base (21);
each adjusting mechanism (A) comprises a mandril (1), a driving mechanism, a braking mechanism and a support body (D);
the driving mechanism comprises a driving piezoelectric stack (9) and a micro-displacement amplifying structure (B);
the braking mechanism comprises two braking triangular amplifying structures (11) and two braking piezoelectric stacks (12);
a brake piezoelectric stack (12) is arranged in each brake triangular amplification structure (11), the output ends of the two brake triangular amplification structures (11) which are opposite to each other are fixedly connected with a support body (D), a vertically-arranged ejector rod (1) is arranged between the adjacent output ends of the two brake triangular amplification structures (11), the ejector rod (1) is arranged on the support body (D) in a sliding mode, and the ejector rod (1) is clamped and locked by the two brake triangular amplification structures (11) in the power-off state of the brake piezoelectric stack (12); the bottom end of the ejector rod (1) is in contact with the output end of the micro-displacement amplification structure (B), the micro-displacement amplification structure (B) is driven by the driving piezoelectric stack (9) to output an upward driving force to be transmitted to the ejector rod (1) in the electrified state of the driving piezoelectric stack (9), and the micro-displacement amplification structure (B) is fixed on the support body (D); the upper end of the ejector rod (1) is fixed on the platform (20), a universal flexible hinge (101) is processed on the ejector rod (1), the universal flexible hinge (101) is positioned between the upper part of the support body (D) and the platform (20), and the support body (D) is fixed on the base (21);
the driving piezoelectric stacks (9) are vertically arranged and are parallel or vertical to the length directions of the two braking piezoelectric stacks (12); the micro-displacement amplifying structure (B) is a lever amplifying structure (4), the lever amplifying structure (4) is connected with a support body (D), one end of a driving piezoelectric stack (9) is in contact with the input end of the lever amplifying structure (4), the other end of the driving piezoelectric stack (9) is connected with the support body (D), and the output end of the lever amplifying structure (4) is in contact with the bottom end of the ejector rod (1).
5. The utility model provides a power failure keeps three degree of freedom piezoelectricity directional adjustment devices which characterized in that: the device comprises a platform (20), a base (21) and three or four adjusting mechanisms (A); three or four adjusting mechanisms (A) are uniformly arranged on the base (21);
each adjusting mechanism (A) comprises a mandril (1), a driving mechanism, a braking mechanism and a support body (D);
the driving mechanism comprises a driving piezoelectric stack (9) and a micro-displacement amplifying structure (B);
the braking mechanism comprises two braking triangular amplifying structures (11) and two braking piezoelectric stacks (12);
a brake piezoelectric stack (12) is arranged in each brake triangular amplification structure (11), the output ends of the two brake triangular amplification structures (11) which are opposite to each other are fixedly connected with a support body (D), a vertically-arranged ejector rod (1) is arranged between the adjacent output ends of the two brake triangular amplification structures (11), the ejector rod (1) is arranged on the support body (D) in a sliding mode, and the ejector rod (1) is clamped and locked by the two brake triangular amplification structures (11) in the power-off state of the brake piezoelectric stack (12); the bottom end of the ejector rod (1) is in contact with the output end of the micro-displacement amplification structure (B), the micro-displacement amplification structure (B) is driven by the driving piezoelectric stack (9) to output an upward driving force to be transmitted to the ejector rod (1) in the electrified state of the driving piezoelectric stack (9), and the micro-displacement amplification structure (B) is fixed on the support body (D); the upper end of ejector pin (1) is fixed on platform (20), and processing has universal flexible hinge (101) on ejector pin (1), and this universal flexible hinge (101) are located between supporter (D) upper portion and platform (20), and supporter (D) are fixed on base (21):
the driving piezoelectric stacks (9) are vertically arranged and are parallel or vertical to the length directions of the two braking piezoelectric stacks (12); the micro-displacement amplifying structure (B) is a secondary lever amplifying structure (40), the secondary lever amplifying structure (40) is connected with the support body (D), one end of the driving piezoelectric stack (9) is in contact with the input end of the secondary lever amplifying structure (40), the output end of the secondary lever amplifying structure (40) is in contact with the bottom end of the ejector rod (1), and the other end of the driving piezoelectric stack (9) is connected with the support body (D).
6. A method for controlling a platform of a three-freedom piezoelectric pointing device according to any of claims 1-5, wherein: it comprises the following steps:
after three or four adjusting mechanisms (A) are uniformly arranged, the adjusting mechanisms (A), a platform (20) and a base (21) are assembled, and in an initial state, a piezoelectric stack (9) is driven to be powered off, so that the driving mechanism does not generate thrust on an ejector rod (1); the brake piezoelectric stack (12) is powered off, and the ejector rod (1) is clamped by the initial pretightening force F0 of the brake mechanism to realize power-off holding;
the brake piezoelectric stacks (12) of the two, three or four adjusting mechanisms (A) are electrified simultaneously, the brake piezoelectric stacks (12) extend, the brake triangular amplifying structure (11) contracts to generate a restoring force F1, and the self-locking state of the ejector rod (1) is released;
the brake piezoelectric stacks (12) of the three, three or four adjusting mechanisms (A) are electrified continuously at the same time, the brake piezoelectric stacks (12) extend, and the brake triangular amplifying structure (11) keeps restoring force F1; three or four driving piezoelectric stacks (9) are electrified simultaneously, the driving piezoelectric stacks (9) are extended, the four adjusting mechanisms obtain the same electrified regular voltage, the four micro-displacement amplifying structures (B) synchronously generate a vertical driving force F2, ejector rods (1) of the four adjusting mechanisms output linear micro-displacement delta X on the Z axis with the same size, and the platform (20) obtains a displacement delta X on the Z-axis movement freedom degree;
or the brake piezoelectric stacks (12) of the three or four adjusting mechanisms (A) continue to be electrified at the same time, the brake piezoelectric stacks (12) extend, and the brake triangular amplifying structure (11) maintains restoring force F1;
if three adjusting mechanisms (A) form a triangular arrangement mode, a plane XY coordinate system is constructed by any two bisectors of a triangle, the driving piezoelectric stacks (9) of the two adjusting mechanisms (A) corresponding to two sides of any bisector are electrified to obtain different electrified regular voltages, the driving piezoelectric stack (9) of the other adjusting mechanism (A) is powered off, the two electrified adjusting mechanisms (A) output different driving forces under the amplification effect of the micro-displacement amplifying structure (B), the corresponding ejector rods (1) output linear micro-displacements with different sizes to generate a displacement difference, and based on the flexible effect of the universal flexible hinge (101), the platform (20) respectively obtains a rotation angle on the rotational freedom degree by taking any two bisectors as an X axis or a Y axis;
if the four adjusting mechanisms (A) form a regular quadrilateral arrangement mode, a plane XY coordinate system is constructed by two central lines which are perpendicular to each other, the driving piezoelectric stacks (9) of the two adjusting mechanisms (A) corresponding to two sides of one central line are electrified to obtain different electrified regular voltages, the driving piezoelectric stacks (9) of the other two adjusting mechanisms (A) are powered off, the two electrified adjusting mechanisms (A) output different driving forces under the amplification effect of the micro-displacement amplification structure (B), the corresponding ejector rods (1) output linear micro-displacements with different sizes to generate a displacement difference, and based on the flexible action of the universal flexible hinge (101), the platform (20) respectively obtains a rotation angle by taking the two central lines as an X axis or a Y axis in rotational freedom degree.
7. The method for controlling the platform of the three-degree-of-freedom piezoelectric pointing adjustment device in the power-off state according to claim 6, wherein: the micro-displacement amplifying structure (B) is a lever and a triangular composite amplifying structure which are symmetrically arranged in structure, or a lever amplifying structure which is symmetrically arranged in structure, or a triangular amplifying structure which is symmetrically arranged in structure.
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| WO2021062697A1 (en) * | 2019-09-30 | 2021-04-08 | 西门子（中国）有限公司 | Band-type brake device, robot joint, and collaborative robot |
| CN110768572B (en) * | 2019-11-27 | 2020-12-04 | 长春大学 | Linear piezoelectric actuator with high thrust |
| CN111490700B (en) * | 2020-04-23 | 2023-09-19 | 中国科学院光电技术研究所 | Multi-mode hybrid drive two-dimensional parallel motion platform and control method thereof |
| CN114526419B (en) * | 2022-01-12 | 2022-11-25 | 山东大学 | Single-degree-of-freedom deflection platform |
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