CN114261507B - Self-adaptive deformation driving unit and deformation driving mechanism - Google Patents
Self-adaptive deformation driving unit and deformation driving mechanism Download PDFInfo
- Publication number
- CN114261507B CN114261507B CN202111584408.4A CN202111584408A CN114261507B CN 114261507 B CN114261507 B CN 114261507B CN 202111584408 A CN202111584408 A CN 202111584408A CN 114261507 B CN114261507 B CN 114261507B
- Authority
- CN
- China
- Prior art keywords
- deformation
- driving
- adaptive
- rigid arm
- piezoelectric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 154
- 238000006073 displacement reaction Methods 0.000 claims abstract description 85
- 230000003044 adaptive effect Effects 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 9
- 230000003321 amplification Effects 0.000 claims description 8
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 230000002035 prolonged effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000010008 shearing Methods 0.000 claims description 4
- 239000000919 ceramic Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Landscapes
- Control Of Position Or Direction (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a self-adaptive deformation driving unit and a deformation driving mechanism, and belongs to the technical field of variant driving. One of the main purposes of the invention is to provide an adaptive deformation driving unit, which converts the linear displacement output by the piezoelectric stack into the angular displacement, thereby realizing the angular displacement output of the adaptive deformation driving unit, namely realizing the adaptive angular deformation driving. The second main object of the present invention is to provide a deformation driving mechanism, which is realized based on the adaptive deformation driving unit, through a plurality of adaptive deformation driving unit array layouts, the units are connected through driving arms, the linear displacement of the piezoelectric stack is converted into angular displacement through the piezoelectric deformation unit, and the amplifying and overlapping of the angular displacement of the piezoelectric deformation unit are realized through the unit array layouts, and the multi-form deformation driving can be realized according to the needs. The invention has the advantages of simplicity, compactness, large angle deformation range and high response driving speed.
Description
Technical Field
The invention belongs to the technical field of variant driving, and relates to a self-adaptive deformation driving unit and a deformation driving mechanism.
Background
The variant aircraft can correspondingly change the appearance according to the change of the flight environment and the flight mission, and always maintain the optimal flight state. Wing camber is a way of modifying the shape of a aircraft. The traditional wing mainly depends on a motor to drive the bending deformation, however, along with the gradual exposure of defects such as complex structure, large mass, low output energy density and the like of the motor, the defects start to severely restrict the development of the wing deformation technology, so that the intelligent driving material with simpler structure, light mass and high output energy density is used for replacing the motor to drive the wing to deform, and the wing deformation becomes a domestic and foreign research hot spot. More sophisticated smart driver materials today include shape memory alloys, piezo stacks, and the like. The piezoelectric stack has the advantages of high response speed, good control characteristics and the like, and is more suitable for driving the deformation of the wing of the ultrahigh-speed variant aircraft to be deformed compared with the shape memory alloy with low response speed.
Disclosure of Invention
One of the main purposes of the invention is to provide an adaptive deformation driving unit, which converts the linear displacement output by the piezoelectric stack into the angular displacement, thereby realizing the angular displacement output of the adaptive deformation driving unit, namely realizing the adaptive angular deformation driving.
The second main object of the present invention is to provide a deformation driving mechanism, which is realized based on the adaptive deformation driving unit, through a plurality of adaptive deformation driving unit array layouts, the units are connected through driving arms, the linear displacement of the piezoelectric stack is converted into angular displacement through the piezoelectric deformation unit, and the amplifying and overlapping of the angular displacement of the piezoelectric deformation unit are realized through the unit array layouts, and the multi-form deformation driving can be realized according to the needs. The invention has the advantages of simplicity, compactness, large angle deformation range and high response driving speed.
The aim of the invention is achieved by the following technical scheme.
The self-adaptive deformation driving unit disclosed by the invention converts the linear displacement output by the piezoelectric stack into the angular displacement, so that the output of the angular displacement of the self-adaptive deformation driving unit, namely the self-adaptive angular deformation driving is realized.
The deformation driving mechanism disclosed by the invention is realized based on the self-adaptive deformation driving units, the units are connected through driving arms through the array layout of the self-adaptive deformation driving units, the linear displacement of the piezoelectric stack is converted into angular displacement through the piezoelectric deformation units, the amplifying and superposition of the angular displacement of the piezoelectric deformation units are realized through the array layout of the units, and the multi-form deformation driving and continuous flexible bending deformation can be realized according to the needs.
The self-adaptive deformation driving unit mainly comprises a driving triangular deformation mechanism, a driven triangular deformation mechanism, a third flexible hinge connected with the triangular deformation mechanism, a T-shaped limiting flexible hinge mechanism, a fixed end block, a piezoelectric stack, a rotary cylindrical head and a limiting baffle. The active triangle deformation mechanism comprises a first active rigid arm, a second active rigid arm and a first flexible hinge. The first flexible hinge is used for connecting the first active rigid arm and the second active rigid arm. The driven triangular deformation mechanism comprises a first driven rigid arm, a second driven rigid arm and a second flexible hinge, wherein the second flexible hinge is used for connecting the first driven rigid arm and the second driven rigid arm. The T-shaped limiting flexible hinge mechanism consists of a first arc limiting groove, a first fixed hole group, a supporting rod and two fourth flexible hinges. Preferably, the fourth flexible hinge is a straight beam type flexible hinge. Preferably, in order to meet the requirement of the deformation rigidity of the mechanism, the length of the supporting rod is smaller than that of the two straight beam type flexible hinges, and the width of the supporting rod is larger than that of the two straight beam type flexible hinges. The T-shaped limiting flexible hinge mechanism is axisymmetric with respect to the center of the supporting rod. The fixed end block comprises a second arc limiting groove and a second fixed hole group. On the premise of meeting the rigidity requirement of the fixed end block, a groove is formed in the fixed end block so as to improve the natural frequency of the fixed end block.
The first active rigid arm is fixed to the base. The two ends of the driving triangle deformation mechanism and the driven triangle deformation mechanism are respectively connected through a third flexible hinge and a T-shaped limiting flexible hinge mechanism. The lower surface of the fixed end block is integrally connected with the upper surface of the first driving rigid arm. In order to prevent the first driven rigid arm and the third flexible hinge from striking the fixed end block during deformation, the fixed end block is separated from the first driven rigid arm and the third flexible hinge by a predetermined distance, respectively. And two ends of the longitudinal section of the piezoelectric stack are respectively adhered with the rotary cylindrical heads to form a piezoelectric driving mechanism. Because the rotary cylindrical head is designed, the piezoelectric stack can be prevented from being subjected to concentrated stress in the deformation process, uneven surface stress occurs, and the piezoelectric stack is damaged. The piezoelectric driving mechanism is embedded between the first circular arc limiting groove and the second circular arc limiting groove in an interference fit mode, and the piezoelectric stack can only output thrust and does not bear tensile force through the interference fit. The first circular arc limiting groove and the second circular arc limiting groove not only can play a limiting role on the piezoelectric driving mechanism, but also can automatically center, and further improve deformation control precision. The limit baffle fixed on the fixed end block limits one rotary cylinder head of the piezoelectric driving mechanism. The limiting baffle plate fixed on the T-shaped limiting flexible hinge mechanism limits the other rotary cylindrical head of the piezoelectric driving mechanism, so that the phenomenon of groove removal of the piezoelectric driving mechanism is prevented. Preferably, the diameter of the first circular arc limiting groove is equal to that of the second circular arc limiting groove. The piezoelectric driving mechanism and the active triangular deformation mechanism form a stable triangle, the self-adaptive deformation driving unit utilizes the triangle angle expansion principle, and outputs precise linear displacement after inputting an electric signal to the piezoelectric stack, so that the whole self-adaptive deformation driving unit is pushed to generate angle deflection, and the voltage signal input to the piezoelectric stack is converted into angle displacement, thereby realizing the output of the angle displacement of the self-adaptive deformation driving unit, namely realizing self-adaptive angle deformation driving. The driving triangle deformation mechanism and the driven triangle deformation mechanism apply uniform constraint force to the piezoelectric driving mechanism through the T-shaped limiting flexible hinge mechanism, so that shearing force generated by deformation to the piezoelectric stack is further avoided, and the service life of the piezoelectric stack is further prolonged.
The driving triangle deformation mechanism, the driven triangle deformation mechanism, the third flexible hinge and the T-shaped limiting flexible hinge mechanism jointly enclose an annular structure. Preferably, the ring structure is a diamond-like ring structure, the self-adaptive deformation driving unit is simplified, and meanwhile, the driving section of the piezoelectric stack is stressed more uniformly, so that the service life of the piezoelectric stack is prolonged. Preferably, the piezoelectric stack is located at a long diagonal position of the diamond-like annular structure, so that the displacement-angle magnification is improved, and the angle change control amplitude is further improved.
The self-adaptive deformation driving unit utilizes the triangle angle expansion principle, when the electric signal is input to the piezoelectric stack, precise linear displacement is output, the whole self-adaptive deformation driving unit is pushed to perform angle deflection, and the voltage signal input to the piezoelectric stack is converted into angle displacement, so that the output of the angle displacement of the self-adaptive deformation driving unit is realized, namely, the self-adaptive angle deformation driving is realized, and different pneumatic requirements are met.
Preferably, the adaptive deformation driving unit realizes accurate control of adaptive angular deformation driving by utilizing a triangle angle expansion principle, and the realization method is as follows:
step one: a small input displacement is given to the T-shaped limit flexible hinge mechanism along the direction of the piezo stack. The length of the first driving rigid arm, the length of the second driving rigid arm, the length of the first driven rigid arm and the length of the second driven rigid arm are unchanged in the deformation process of the flexible self-adaptive deformation driving unit, and the deformation mainly occurs at the positions of the first flexible hinge, the second flexible hinge, the third flexible hinge and the T-shaped limiting flexible hinge mechanism, as shown in fig. 6. There is a geometric relationship:
wherein: l is the distance between the third flexible hinge and the T-shaped limiting flexible hinge mechanism, beta is the output displacement amplification factor of the piezoelectric stack,the included angle between the first active rigid arm and the second active rigid arm before deformation is the included angle variation of the first active rigid arm and the second active rigid arm after deformation.
Step two: simplifying the geometric relationship for adjusting the driving control obtained in the step one to obtain the simplified geometric relationship for adjusting the driving control.
Simplifying the formula (1) to obtain the relation between the included angle variable alpha of the first active rigid arm and the second active rigid arm and the output displacement amplification factor of the piezoelectric stack:
step three: according to the geometric relation of the adjustment driving control established in the second step, the triangle angle expansion principle is utilized, the output of the displacement of the piezoelectric stack is realized by adjusting the voltage applied to the two ends of the piezoelectric stack, and the accurate control of the self-adaptive angle deformation driving is further realized.
Relationship between the magnitude of the voltage applied across the piezo stack and the output displacement magnification of the piezo stack:
wherein: u is the voltage applied to two ends of the piezoelectric stack, m is the number of piezoelectric ceramic plates connected in series, and d 33 Is a piezoelectric coefficient.
Preferably, as can be seen from the formula (2), the variation α of the angle between the first and second active rigid arms is mainly determined by the angle between the first and second active rigid arms before deformationAnd the output displacement magnification beta of the piezoelectric stack. When the output displacement magnification factor beta of the piezoelectric stack is constant, the included angle between the first active rigid arm and the second active rigid arm before deformation is +>The larger the first initiative rigid arm and the second initiative rigid arm after deformation, the larger the included angle variation amount is. Preferably, the included angle between the first active rigid arm and the second active rigid arm is obtuse and less than 180 degrees. In order to improve the natural frequencies of the driving triangle deformation mechanism and the driven triangle deformation mechanism, grooves are respectively formed in the driving rigid mechanism and the driven rigid mechanism on the premise that the structural rigidity is not affected.
The invention discloses a deformation driving mechanism, which is realized based on the self-adaptive deformation driving units, wherein the units are connected through driving arms through n+1 self-adaptive deformation driving unit array layout. The first active rigid arm of the first adaptive deformation driving unit is fixed on the stationary base. The second active rigid arm of the nth adaptive deformation driving unit is connected with the first active rigid arm of the (n+1) th adaptive deformation driving unit through a driving arm. And each self-adaptive deformation driving unit outputs the angular displacement, and the amplification and superposition of the piezoelectric deformation unit outputs the angular displacement through the cell array layout. Each self-adaptive deformation driving unit generates different displacement output angles by applying different driving voltage signals to the piezoelectric stack of each self-adaptive deformation driving unit according to the use requirement and the environmental requirement, and the maximum efficiency improves the self-adaptive capacity of the deformation mechanism, thereby realizing multi-form deformation driving and continuous flexible bending deformation.
The beneficial effects are that:
1. the self-adaptive deformation driving unit disclosed by the invention converts the linear displacement output by the piezoelectric stack into the angular displacement, so that the output of the angular displacement of the self-adaptive deformation driving unit, namely the self-adaptive angular deformation driving is realized.
2. The deformation driving mechanism disclosed by the invention is realized based on the self-adaptive deformation driving units, the units are connected through driving arms through a plurality of self-adaptive deformation driving unit array layouts, the linear displacement of the piezoelectric stack is converted into angular displacement through the piezoelectric deformation units, the amplification and superposition of the angular displacement of the piezoelectric deformation units are realized through the unit array layouts, and the multi-form deformation driving can be realized according to the needs.
3. The deformation driving mechanism disclosed by the invention is used for completing various bending modes of the deformation wing, improving the self-adaptive capacity of the deformation wing at maximum efficiency under different flight environments, realizing continuous flexible bending deformation of the deformation wing and meeting different pneumatic requirements.
4. The length of the supporting rod is smaller than that of the two straight beam type flexible hinges, and the width of the supporting rod is larger than that of the two straight beam type flexible hinges. The T-shaped limiting flexible hinge mechanism is axisymmetric relative to the center of the supporting rod, and can meet the requirement of deformation rigidity of the mechanism.
5. According to the self-adaptive deformation driving unit and the deformation driving mechanism, on the premise that the rigidity requirement of the fixed end block is met, the fixed end block is provided with the groove so as to improve the natural frequency of the fixed end block, and in addition, the maximum weight reduction is realized by optimizing the position and the shape of the groove.
6. According to the self-adaptive deformation driving unit and the deformation driving mechanism, as the cylindrical head is adopted by the rotary cylindrical head, the piezoelectric stack can be prevented from being subjected to concentrated stress in the deformation process, uneven surface stress is caused, and the piezoelectric stack is damaged.
7. According to the self-adaptive deformation driving unit and the deformation driving mechanism, the piezoelectric driving mechanism is embedded between the first circular arc-shaped limiting groove and the second circular arc-shaped limiting groove in an interference fit mode, and the piezoelectric stack can only output pushing force and does not bear pulling force through the interference fit. The first arc-shaped limiting groove and the second arc-shaped limiting groove not only can play a limiting role on the piezoelectric driving mechanism, but also can automatically center, and deformation control precision is further improved.
8. The invention relates to a self-adaptive deformation driving unit and a deformation driving mechanism, wherein a limiting baffle plate fixed on a fixed end block is used for positioning a rotary cylindrical head of a piezoelectric driving mechanism. The limiting baffle plate fixed on the T-shaped limiting flexible hinge mechanism limits the other rotary cylindrical head of the piezoelectric driving mechanism, so that the phenomenon of groove removal of the piezoelectric driving mechanism is prevented.
9. The invention relates to a self-adaptive deformation driving unit and a deformation driving mechanism, wherein the piezoelectric driving mechanism and the active triangle deformation mechanism form a stable triangle, the self-adaptive deformation driving unit utilizes the triangle angle expansion principle, when an electric signal is input to a piezoelectric stack, the self-adaptive deformation driving unit is driven to generate angle deflection, and the voltage signal input to the piezoelectric stack is converted into angle displacement, so that the output of the angle displacement of the self-adaptive deformation driving unit is realized, namely, the self-adaptive angle deformation driving is realized.
10. According to the self-adaptive deformation driving unit and the deformation driving mechanism, the driving triangular deformation mechanism and the driven triangular deformation mechanism apply uniform constraint force to the piezoelectric driving mechanism through the T-shaped limiting flexible hinge mechanism, so that shearing force generated by deformation on the piezoelectric stack is further avoided, and the service life of the piezoelectric stack is further prolonged.
11. The self-adaptive deformation driving unit and the deformation driving mechanism use the piezoelectric stack as a driver, and have high driving power density. Meanwhile, the mechanism has the advantages of simple structure and compact layout, improves the reliability of wing deformation, and has high practicability and engineering practical value.
Drawings
Fig. 1 is a schematic structural diagram of a deformation driving mechanism according to an embodiment of the present invention.
1-self-adaptive deformation driving unit, 2-driving arm and 3-base.
Fig. 2-first schematic diagram of the structure of the adaptive deformation driving unit.
1.1-driving triangle deformation mechanism, 1.2-driven triangle deformation mechanism, 1.3-third flexible hinge, 1.4-T-shaped spacing flexible hinge mechanism, 1.5-fixed end block, 1.5.1-second circular arc spacing groove, 1.5.2-second fixed Kong Weizu, 1.6-piezoelectric driving mechanism.
Fig. 3-a second schematic diagram of the structure of the adaptive deformation driving unit.
1.1.1-first driving rigid arm, 1.1.2-first flexible hinge, 1.1.3-second driving rigid arm, 1.2.1-first driven rigid arm, 1.2.2-second flexible hinge, 1.2.3-second driven rigid arm, 1.7 limit baffle and 1.8 fixing screw.
FIG. 4-schematic diagram of a T-shaped flexible hinge mechanism.
1.4.1-fourth flexible hinge, 1.4.2-first circular arc limit groove, 1.4.3-first fixed hole group and 1.4.4-supporting rod.
Fig. 5-schematic structural view of piezoelectric driving mechanism.
1.6.1 piezo stacks, 1.6.2 rotating cylinder heads.
Fig. 6-schematic diagram of the angular deformation driving of the adaptive deformation driving unit.
Fig. 7-schematic deformation diagram of the array deformation driving mechanism.
Detailed Description
As shown in fig. 1 to 6, in the wing deformation driving mechanism disclosed in this embodiment, n+1 piezoelectric deformation units 1 are arranged in an array, and the units are connected by driving arms 2.
The self-adaptive deformation driving unit 1 disclosed by the invention converts the linear displacement output by the piezoelectric stack 1.6.1 into the angular displacement, so that the output of the angular displacement of the self-adaptive deformation driving unit 1 is realized, namely the self-adaptive angular deformation driving is realized.
The deformation driving mechanism disclosed by the invention is realized based on the self-adaptive deformation driving unit 1, through the array layout of the plurality of self-adaptive deformation driving units 1, the units are connected through the driving arm 2, the linear displacement of the piezoelectric stack 1.6.1 is converted into the angular displacement through the piezoelectric deformation unit, the amplifying superposition of the angular displacement of the piezoelectric deformation unit is realized through the array layout of the units, and the multi-form deformation driving and the continuous flexible bending deformation can be realized according to the requirement.
The self-adaptive deformation driving unit 1 mainly comprises a driving triangular deformation mechanism 1.1, a driven triangular deformation mechanism 1.2, a third flexible hinge 1.3 and a T-shaped limiting flexible hinge mechanism 1.4 for connecting the driving triangular deformation mechanism 1.1 and the driven triangular deformation mechanism 1.2, a fixed end block 1.5, a piezoelectric stack 1.6.1, a rotary cylindrical head 1.6.2 and a limiting baffle plate 1.7. The active triangular deformation mechanism 1.1 comprises a first active rigid arm 1.1.1, a second active rigid arm 1.1.3 and a first flexible hinge 1.1.2. The first flexible hinge 1.1.2 is used to connect the first active rigid arm 1.1.1 with the second active rigid arm 1.1.3. The driven triangular deformation mechanism 1.2 comprises a first driven rigid arm 1.2.1, a second driven rigid arm 1.2.3 and a second flexible hinge 1.2.2, wherein the second flexible hinge 1.2.2 is used for connecting the first driven rigid arm 1.2.1 with the second driven rigid arm 1.2.3. The T-shaped limiting flexible hinge mechanism 1.4 is composed of a first arc limiting groove 1.4.2, a first fixed hole bit group 1.4.3, a supporting rod 1.4.4 and two fourth flexible hinges 1.4.1. Preferably, the fourth flexible hinge 1.4.1 is a straight beam type flexible hinge. Preferably, in order to meet the requirement of the deformation rigidity of the mechanism, the length of the supporting rod 1.4.4 is smaller than that of the two straight beam type flexible hinges 1.4.1, and the width of the supporting rod 1.4.4 is larger than that of the two straight beam type flexible hinges 1.4.1. The T-shaped flexible hinge mechanism 1.4 is axisymmetric with respect to the center of the supporting rod 1.4.4. The fixed end 1.5 block comprises a second circular arc limiting groove 1.5.1 and a second fixed hole bit group 1.5.2. On the premise of meeting the rigidity requirement of the fixed end block 1.5, the fixed end block 1.5 is provided with a groove to improve the natural frequency of the fixed end block 1.5.
The first active rigid arm 1.1.1 is fixed to the base 3. The two ends of the driving triangle deformation mechanism 1.1 and the driven triangle deformation mechanism 1.2 are respectively connected through a third flexible hinge 1.3 and a T-shaped limiting flexible hinge mechanism 1.4. The lower surface of the fixed end block 1.5 is integrally connected with the upper surface of the first active rigid arm 1.1.1. In order to prevent the first driven rigid arm 1.2.1 and the third flexible hinge 1.3 from hitting the fixed end block 1.5 during deformation, the fixed end block 1.5 is separated from the first driven rigid arm 1.2.1 and the third flexible hinge 1.3, respectively, by a predetermined distance. Both ends of the longitudinal section of the piezoelectric stack 1.6.1 are respectively adhered to the rotary cylindrical heads 1.6.2 to form a piezoelectric driving mechanism 1.6, as shown in fig. 5. Because the rotary cylindrical head 1.6.2 adopts a cylindrical head design, the piezoelectric stack 1.6.1 can be prevented from being subjected to concentrated stress in the deformation process, uneven surface stress occurs, and the piezoelectric stack 1.6.1 is damaged. The piezoelectric driving mechanism 1.6 is embedded between the first circular arc limiting groove 1.4.2 and the second circular arc limiting groove 1.5.1 in an interference fit mode, and the piezoelectric stack 1.6.1 can only output pushing force and does not bear pulling force through the interference fit. The first arc limiting groove 1.4.2 and the second arc limiting groove 1.5.1 not only can play a limiting role on the piezoelectric driving mechanism 1.6, but also can automatically center, and further improve deformation control precision. The limit stop 1.7 fixed on the fixed end block 1.5 limits one rotary cylinder head 1.6.2 of the piezoelectric driving mechanism 1.6. The limiting baffle plate 1.7 fixed on the T-shaped limiting flexible hinge mechanism 1.4 limits the other rotary cylindrical head 1.6.2 of the piezoelectric driving mechanism 1.6, so that the phenomenon of groove removal of the piezoelectric driving mechanism 1.6 is prevented. Preferably, the diameter of the first circular arc limiting groove 1.4.2 is equal to that of the second circular arc limiting groove 1.5.1. The piezoelectric driving mechanism 1.6 and the active triangular deformation mechanism 1.1 form a stable triangle, the self-adaptive deformation driving unit 1 utilizes the triangle angle expansion principle, outputs precise linear displacement after inputting an electric signal to the piezoelectric stack 1.6.1, pushes the whole self-adaptive deformation driving unit 1 to perform angle deflection, converts a voltage signal input to the piezoelectric stack 1.6.1 into angle displacement, and accordingly realizes the output of the angle displacement of the self-adaptive deformation driving unit 1, namely the self-adaptive angle deformation driving. The driving triangle deformation mechanism 1.1 and the driven triangle deformation mechanism 1.2 apply uniform constraint force to the piezoelectric driving mechanism 1.6 through the T-shaped limiting flexible hinge mechanism 1.4, so that shearing force generated by deformation to the piezoelectric stack 1.6.1 is further avoided, and the service life of the piezoelectric stack 1.6.1 is further prolonged.
The driving triangle deformation mechanism 1.1 and the driven triangle deformation mechanism 1.2, the third flexible hinge 1.3 and the T-shaped limiting flexible hinge mechanism 1.4 jointly form an annular structure. Preferably, the ring structure is a diamond-like ring structure, so that the driving section of the piezoelectric stack 1.6.1 is stressed more uniformly while the self-adaptive deformation driving unit 1 is simplified, and the service life of the piezoelectric stack 1.6.1 is prolonged. Preferably, the piezoelectric stack 1.6.1 is located at a long diagonal position of the diamond-like annular structure, so that the displacement-angle magnification is improved, and the angle change control amplitude is further improved.
The self-adaptive deformation driving unit 1 utilizes the triangle angle expansion principle, outputs precise linear displacement after inputting an electric signal to the piezoelectric stack 1.6.1, pushes the whole self-adaptive deformation driving unit 1 to generate angle deflection, converts a voltage signal input to the piezoelectric stack 1.6.1 into angle displacement, and therefore realizes the output of the angle displacement of the self-adaptive deformation driving unit 1, namely, realizes self-adaptive angle deformation driving, and meets different pneumatic requirements.
Preferably, the adaptive deformation driving unit 1 realizes accurate control of adaptive angular deformation driving by utilizing a triangle angle expansion principle, and the realization method is as follows:
step one: a small input displacement is given to the T-shaped limit flexible hinge mechanism 1.4 along the direction of the piezo stack 1.6.1. Since the lengths of the first driving rigid arm 1.1.1, the second driving rigid arm 1.1.3, the first driven rigid arm 1.2.1 and the second driven rigid arm 1.2.3 are unchanged in the deformation process of the flexible self-adaptive deformation driving unit 1, the deformation mainly occurs at the positions of the first flexible hinge 1.1.2, the second flexible hinge 1.2.2, the third flexible hinge 1.3 and the T-shaped limiting flexible hinge mechanism 1.4, as shown in fig. 6. There is a geometric relationship:
wherein: l is the distance between the third flexible hinge 1.3 and the T-shaped limiting flexible hinge mechanism 1.4, beta is the output displacement magnification of the piezoelectric stack 1.6.1,the angle alpha is the variation of the angle between the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 after deformation.
Step two: simplifying the geometric relationship for adjusting the driving control obtained in the step one to obtain the simplified geometric relationship for adjusting the driving control.
Simplifying the formula (1) to obtain the relation between the included angle variable alpha of the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 and the output displacement amplification factor of the piezoelectric stack 1.6.1:
step three: according to the geometric relation of the adjustment driving control established in the second step, the triangle angle expansion principle is utilized, the output of the displacement of the piezoelectric stack 1.6.1 is realized by adjusting the voltage applied to the two ends of the piezoelectric stack 1.6.1, and the accurate control of the self-adaptive angle deformation driving is further realized.
Relationship between the magnitude of the voltage applied across the piezo-stack 1.6.1 and the output displacement magnification of the piezo-stack 1.6.1:
wherein: u is the voltage applied to two ends of the piezoelectric stack 1.6.1, m is the number of piezoelectric ceramic plates of the piezoelectric stack 1.6.1 connected in series, and d 33 Is a piezoelectric coefficient.
Preferably, as can be seen from the formula (2), the variation α of the included angle between the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 is mainly determined by the included angle between the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 before deformationAnd the output displacement magnification beta of the piezoelectric stack 1.6.1. When the output displacement magnification beta of the piezoelectric stack 1.6.1 is constant, the included angle between the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 before deformation is>The larger the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 after deformation, the larger the variation of the included angle. Preferably, the included angle between the first active rigid arm 1.1.1 and the second active rigid arm 1.1.3 is obtuse and less than 180 degrees. In order to improve the natural frequencies of the driving triangle deformation mechanism 1.1 and the driven triangle deformation mechanism 1.2, grooves are respectively formed in the driving rigid mechanism 1.1 and the driven rigid mechanism 1.2 on the premise of not affecting the structural rigidity.
The deformation driving mechanism disclosed by the invention is realized based on the adaptive deformation driving units 1, and is formed by arranging n+1 adaptive deformation driving units 1 in an array mode, wherein the units are connected through driving arms 2, as shown in figure 1. The first active rigid arm 1.1.1 of the first adaptive deformation driving unit 1 is fixed on the stationary base 3. The second active rigid arm 1.1.3 of the nth adaptive deformation driving unit 1 is connected with the first active rigid arm 1.1.1 of the (n+1) th adaptive deformation driving unit 1 through a driving arm 2. As shown in fig. 7, each of the adaptive deformation driving units 1 is angularly displaced to output, and the enlarged superposition of the angular displacement output of the adaptive deformation driving unit 1 is realized by the cell array layout. Each self-adaptive deformation driving unit 1 generates different displacement output angles by applying different driving voltage signals to the piezoelectric stack 1.6.1 of each self-adaptive deformation driving unit 1 according to the use requirement and the environmental requirement, and the maximum efficiency improves the self-adaptive capacity of the deformation mechanism, thereby realizing multi-form deformation driving and continuous flexible bending deformation.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. An adaptive deformation driving unit, characterized in that: the linear displacement output by the piezoelectric stack is converted into angular displacement, so that the angular displacement output of the self-adaptive deformation driving unit is realized, namely the self-adaptive angular deformation driving is realized;
the self-adaptive deformation driving unit mainly comprises a driving triangular deformation mechanism, a driven triangular deformation mechanism, a third flexible hinge connected with the triangular deformation mechanism, a T-shaped limiting flexible hinge mechanism, a fixed end block, a piezoelectric stack, a rotary cylindrical head and a limiting baffle; the active triangular deformation mechanism comprises a first active rigid arm, a second active rigid arm and a first flexible hinge; the first flexible hinge is used for connecting the first active rigid arm and the second active rigid arm; the driven triangular deformation mechanism comprises a first driven rigid arm, a second driven rigid arm and a second flexible hinge, and the second flexible hinge is used for connecting the first driven rigid arm and the second driven rigid arm; the T-shaped limiting flexible hinge mechanism consists of a first arc limiting groove, a first fixed hole group, a supporting rod and two fourth flexible hinges;
the first driving rigid arm is fixed on the base; the two ends of the driving triangle deformation mechanism and the driven triangle deformation mechanism are respectively connected through a third flexible hinge and a T-shaped limiting flexible hinge mechanism; the lower surface of the fixed end block is integrally connected with the upper surface of the first driving rigid arm; in order to prevent the first driven rigid arm and the third flexible hinge from striking the fixed end block during deformation, the fixed end block is separated from the first driven rigid arm and the third flexible hinge by a predetermined distance respectively; the two ends of the longitudinal section of the piezoelectric stack are respectively adhered with the rotary cylinder head to form a piezoelectric driving mechanism; because the rotary cylindrical head is designed, the piezoelectric stack can be prevented from being subjected to concentrated stress in the deformation process, uneven surface stress occurs, and the piezoelectric stack is damaged; the piezoelectric driving mechanism is embedded between the first circular arc limiting groove and the second circular arc limiting groove in an interference fit mode, and the piezoelectric stack can only output thrust and does not bear tensile force through the interference fit; the first arc limiting groove and the second arc limiting groove not only can play a limiting role on the piezoelectric driving mechanism, but also can automatically center, so that the deformation control precision is further improved; the limiting baffle plate fixed on the fixed end block limits one rotary cylindrical head of the piezoelectric driving mechanism; the limiting baffle plate fixed on the T-shaped limiting flexible hinge mechanism limits the other rotary cylindrical head of the piezoelectric driving mechanism, so that the phenomenon of groove removal of the piezoelectric driving mechanism is prevented.
2. An adaptive deformation drive unit as claimed in claim 1, wherein: the diameter of the first circular arc limiting groove is equal to that of the second circular arc limiting groove; the piezoelectric driving mechanism and the active triangular deformation mechanism form a stable triangle, the self-adaptive deformation driving unit outputs precise linear displacement after inputting an electric signal to the piezoelectric stack by utilizing the triangle angle expansion principle, so that the whole self-adaptive deformation driving unit is pushed to generate angle deflection, and the voltage signal input to the piezoelectric stack is converted into angle displacement, thereby realizing the output of the angle displacement of the self-adaptive deformation driving unit, namely realizing self-adaptive angle deformation driving; the driving triangle deformation mechanism and the driven triangle deformation mechanism apply uniform constraint force to the piezoelectric driving mechanism through the T-shaped limiting flexible hinge mechanism, so that shearing force generated by deformation to the piezoelectric stack is further avoided, and the service life of the piezoelectric stack is further prolonged.
3. An adaptive deformation drive unit as claimed in claim 1, wherein: the fourth flexible hinge is a straight beam type flexible hinge; in order to meet the requirement of the deformation rigidity of the mechanism, the length of the supporting rod is smaller than that of the two straight beam type flexible hinges, and the width of the supporting rod is larger than that of the two straight beam type flexible hinges; the T-shaped limiting flexible hinge mechanism is axisymmetric with respect to the center of the supporting rod; the fixed end block comprises a second arc limiting groove and a second fixing Kong Weizu; on the premise of meeting the rigidity requirement of the fixed end block, a groove is formed in the fixed end block so as to improve the natural frequency of the fixed end block.
4. An adaptive deformation drive unit as claimed in claim 2, wherein: the driving triangle deformation mechanism, the driven triangle deformation mechanism, the third flexible hinge and the T-shaped limiting flexible hinge mechanism jointly enclose an annular structure; the ring structure is a diamond-like ring structure, so that the driving section of the piezoelectric stack is stressed more uniformly while the self-adaptive deformation driving unit is simplified, and the service life of the piezoelectric stack is prolonged;
the piezoelectric stack is positioned at a long diagonal line position of the diamond-like annular structure, so that the displacement-angle magnification is improved, and the angle change control amplitude is further improved.
5. An adaptive deformation driving unit according to claim 3, wherein: the self-adaptive deformation driving unit utilizes the triangle angle expansion principle, when the electric signal is input to the piezoelectric stack, precise linear displacement is output, the whole self-adaptive deformation driving unit is pushed to perform angle deflection, and the voltage signal input to the piezoelectric stack is converted into angle displacement, so that the output of the angle displacement of the self-adaptive deformation driving unit is realized, namely, the self-adaptive angle deformation driving is realized, and different pneumatic requirements are met.
6. An adaptive deformation drive unit as claimed in claim 5, wherein: the self-adaptive deformation driving unit realizes the accurate control of the self-adaptive angle deformation driving by utilizing the triangle angle expansion principle, the realization method is as follows,
step one: a small input displacement is given to the T-shaped limiting flexible hinge mechanism along the direction of the piezoelectric stack; the length of the first driving rigid arm, the length of the second driving rigid arm, the length of the first driven rigid arm and the length of the second driven rigid arm are unchanged in the deformation process of the flexible self-adaptive deformation driving unit, and the deformation mainly occurs at the positions of the first flexible hinge, the second flexible hinge, the third flexible hinge and the T-shaped limiting flexible hinge mechanism; there is a geometric relationship:
wherein: l is the distance between the third flexible hinge and the T-shaped limiting flexible hinge mechanism, beta is the output displacement amplification factor of the piezoelectric stack,the included angle between the first active rigid arm and the second active rigid arm before deformation is the included angle variation of the first active rigid arm and the second active rigid arm after deformation;
step two: simplifying the geometric relationship for adjusting the driving control obtained in the first step to obtain a simplified geometric relationship for adjusting the driving control;
simplifying the formula (1) to obtain the relation between the included angle variable alpha of the first active rigid arm and the second active rigid arm and the output displacement amplification factor of the piezoelectric stack:
step three: according to the geometric relation of the adjustment driving control established in the second step, by utilizing the triangle angle expansion principle, the output of the displacement of the piezoelectric stack is realized by adjusting the voltage applied to the two ends of the piezoelectric stack, and the accurate control of the self-adaptive angle deformation driving is further realized;
relationship between the magnitude of the voltage applied across the piezo stack and the output displacement magnification of the piezo stack:
wherein: u is the magnitude of the voltage applied across the piezoelectric stackM is the number of piezoelectric ceramic plates connected in series, d 33 Is a piezoelectric coefficient.
7. An adaptive deformation drive unit as claimed in claim 6, wherein: according to the formula (2), the angle change α between the first and second active rigid arms is mainly determined by the angle between the first and second active rigid arms before deformationRelated to the output displacement magnification beta of the piezoelectric stack; when the output displacement magnification factor beta of the piezoelectric stack is constant, the included angle between the first active rigid arm and the second active rigid arm before deformation is +>The larger the first initiative rigid arm and the second initiative rigid arm after deformation, the larger the included angle variation amount is.
8. An adaptive deformation drive unit as claimed in claim 7, wherein: the included angle between the first active rigid arm and the second active rigid arm is an obtuse angle and is smaller than 180 degrees; in order to improve the natural frequencies of the driving triangle deformation mechanism and the driven triangle deformation mechanism, grooves are respectively formed in the driving rigid mechanism and the driven rigid mechanism on the premise that the structural rigidity is not affected.
9. A deformation driving mechanism based on the adaptive deformation driving unit according to claim 1, 2, 3, 4, 5, 6, 7 or 8, wherein the elements are connected through driving arms by a plurality of adaptive deformation driving unit array layouts, linear displacement of the piezoelectric stack is converted into angular displacement through the piezoelectric deformation units, and the amplifying and overlapping of the angular displacement of the piezoelectric deformation units are realized through the unit array layouts, and the multi-form deformation driving and continuous flexible bending deformation can be realized as required.
10. A deformation driving mechanism based on an adaptive deformation driving unit according to claim 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that: through n+1 self-adaptive deformation driving unit array layout, the units are connected through driving arms; the first active rigid arm of the first adaptive deformation driving unit is fixed on the fixed base; the second active rigid arm of the nth adaptive deformation driving unit is connected with the first active rigid arm of the (n+1) th adaptive deformation driving unit through a driving arm; each self-adaptive deformation driving unit outputs the angular displacement, and the amplification and superposition of the piezoelectric deformation unit outputs the angular displacement through the cell array layout; each self-adaptive deformation driving unit generates different displacement output angles by applying different driving voltage signals to the piezoelectric stack of each self-adaptive deformation driving unit according to the use requirement and the environmental requirement, and the maximum efficiency improves the self-adaptive capacity of the deformation mechanism, thereby realizing multi-form deformation driving and continuous flexible bending deformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111584408.4A CN114261507B (en) | 2021-12-23 | 2021-12-23 | Self-adaptive deformation driving unit and deformation driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111584408.4A CN114261507B (en) | 2021-12-23 | 2021-12-23 | Self-adaptive deformation driving unit and deformation driving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114261507A CN114261507A (en) | 2022-04-01 |
| CN114261507B true CN114261507B (en) | 2023-11-17 |
Family
ID=80829079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111584408.4A Active CN114261507B (en) | 2021-12-23 | 2021-12-23 | Self-adaptive deformation driving unit and deformation driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114261507B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102060101A (en) * | 2010-12-21 | 2011-05-18 | 南京航空航天大学 | Skin for morphing wings |
| CN104139847A (en) * | 2014-07-25 | 2014-11-12 | 哈尔滨工业大学深圳研究生院 | Trailing edge and leading edge with adjustable degrees of curvature for aircraft wing |
| EP2883787A1 (en) * | 2013-12-12 | 2015-06-17 | Airbus Defence and Space GmbH | Drive mechanism for a deformable leading edge structure |
| CN106275388A (en) * | 2015-12-10 | 2017-01-04 | 哈尔滨工业大学深圳研究生院 | A kind of based on planar linkage closed-loop element containing hinge deformable trailing edge mechanism again |
| JP2018043537A (en) * | 2016-09-12 | 2018-03-22 | 国立大学法人九州工業大学 | Displacement conversion device and flapping mechanism equipped with displacement conversion device, and method for manufacturing displacement conversion device |
| CN112224384A (en) * | 2020-09-12 | 2021-01-15 | 西安交通大学 | Self-adaptive variable camber wing trailing edge based on hierarchical piezoelectric stack driving |
-
2021
- 2021-12-23 CN CN202111584408.4A patent/CN114261507B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102060101A (en) * | 2010-12-21 | 2011-05-18 | 南京航空航天大学 | Skin for morphing wings |
| EP2883787A1 (en) * | 2013-12-12 | 2015-06-17 | Airbus Defence and Space GmbH | Drive mechanism for a deformable leading edge structure |
| CN104139847A (en) * | 2014-07-25 | 2014-11-12 | 哈尔滨工业大学深圳研究生院 | Trailing edge and leading edge with adjustable degrees of curvature for aircraft wing |
| CN106275388A (en) * | 2015-12-10 | 2017-01-04 | 哈尔滨工业大学深圳研究生院 | A kind of based on planar linkage closed-loop element containing hinge deformable trailing edge mechanism again |
| JP2018043537A (en) * | 2016-09-12 | 2018-03-22 | 国立大学法人九州工業大学 | Displacement conversion device and flapping mechanism equipped with displacement conversion device, and method for manufacturing displacement conversion device |
| CN112224384A (en) * | 2020-09-12 | 2021-01-15 | 西安交通大学 | Self-adaptive variable camber wing trailing edge based on hierarchical piezoelectric stack driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114261507A (en) | 2022-04-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Prechtl et al. | Design of a high efficiency, large stroke, electromechanical actuator | |
| US5907211A (en) | High-efficiency, large stroke electromechanical actuator | |
| CN109889094B (en) | Tunable wing-shaped flutter excitation type double-vibrator piezoelectric energy harvester | |
| CN107462963B (en) | Piezo-electric driven variable diaphragm dimming device and method | |
| CN107976802B (en) | Two-dimensional rapid control reflector | |
| US5668432A (en) | Articulation device | |
| CN108306546A (en) | Compact dual actuation component piezoelectricity stick-slip Drive And Its Driving Method | |
| Prechtl et al. | Design of a high-efficiency discrete servo-flap actuator for helicopter rotor control | |
| CN111510019B (en) | Two-dimensional rapid deflection adjusting device and method with sensing signal leveling function | |
| CN111245290B (en) | Single-degree-of-freedom piezoelectric turntable and excitation method thereof | |
| CN114261507B (en) | Self-adaptive deformation driving unit and deformation driving mechanism | |
| CN108322089A (en) | The big stroke inertial piezoelectric drive motor of double rod loaded type and its motivational techniques | |
| CN108173454A (en) | The fixed piezoelectric inertia driver of bimorph transducer and its driving method | |
| CN107196553B (en) | Four-channel piezoelectric steering engine based on adjustable precompression amplifying mechanism | |
| CN112271955B (en) | Actuating method of piezoelectric actuator with small displacement overshoot and capable of keeping displacement in power-off mode | |
| CN207232479U (en) | A kind of iris diaphgram light modulating device of Piezoelectric Driving | |
| CN107786120B (en) | Piezoelectric rotary positioning platform with macro-micro hybrid motion characteristics and control method | |
| US20220097821A1 (en) | Morphing aircraft skin with embedded viscous peeling network | |
| JP2006522494A (en) | Equipment and methods for optimizing work from functional material actuator products | |
| CN112327503B (en) | Light path pointing precision adjusting device | |
| CN113922701A (en) | Four-rod stick-slip motor with force amplification characteristic and driving method | |
| CN113258824A (en) | Microminiature stick-slip piezoelectric motor and driving method thereof | |
| CN109660147B (en) | Miniature multichannel piezoelectric steering engine | |
| CN110855181B (en) | Rotary piezoelectric driving device based on asymmetric triangular hinge mechanism | |
| CN113090481B (en) | SMA bending driver for adjusting air inlet bulge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |