CN105391337B - Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method - Google Patents
Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method Download PDFInfo
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Abstract
压电堆及马达混合驱动的大扭矩大行程旋转作动器及方法,该作动包括作动压电堆,安装在压电堆外侧的菱形环,连接于菱形环一端的螺纹连杆,通过螺纹与螺纹连杆连接的锁止螺母,同时锁止螺母作为旋转机构转子,外侧嵌套有驱动定子;带有大导程丝杠螺纹的连杆连接于菱形环另一端,通过螺纹与连杆连接的锁止螺母,以锁止螺母作为转子,外侧嵌套有驱动定子,与另一端螺纹连杆通过大导程螺纹连接的丝杠螺母,以及安装于丝杠螺母两侧的推力球轴承,上述结构封装与外壳内;本发明还提供了作动方法,按照一定次序驱动压电堆与电机,能够实现大扭矩大行程旋转运动的步进输出;本发明所涉及的作动器具有旋转驱动行程大,双向输出大扭矩,断电锁止,锁紧可靠、稳定的特点。
A large-torque and large-stroke rotary actuator driven by a piezoelectric stack and a motor and a method thereof. The actuation includes actuating the piezoelectric stack, a diamond-shaped ring installed outside the piezoelectric stack, and a threaded connecting rod connected to one end of the diamond-shaped ring. The lock nut is connected to the screw thread and the threaded connecting rod. At the same time, the lock nut is used as the rotor of the rotating mechanism, and the driving stator is nested outside; the connecting rod with a large lead screw thread is connected to the other end of the diamond ring, and the thread and the connecting rod are connected to each other. The connected lock nut uses the lock nut as the rotor, the drive stator is nested on the outside, the lead screw nut connected with the threaded connecting rod at the other end through a large lead thread, and the thrust ball bearings installed on both sides of the lead screw nut, The above-mentioned structure is packaged in the casing; the present invention also provides an actuation method, which drives the piezoelectric stack and the motor in a certain order, and can realize the step output of the large-torque and large-stroke rotary motion; the actuator involved in the present invention has a rotary drive Large stroke, high torque output in two directions, power-off locking, reliable and stable locking.
Description
技术领域technical field
本发明涉及一种旋转作动器及方法,具体涉及一种压电堆及马达混合驱动的大扭矩大行程旋转作动器及方法。The invention relates to a rotary actuator and a method, in particular to a rotary actuator with large torque and large stroke driven by a piezoelectric stack and a motor and a method.
背景技术Background technique
随着科学技术的不断发展,在国防、航天,机械制造等重要工业领域对驱动装置也提出了更高的要求,传统的电磁电机由于其工作原理和结构形式等方面的限制,已经无法满足新的要求。近些年所出现的压电堆驱动装置比较有效的填补了这一空白。然而受制于压电材料作动行程小的缺点,难以实现大行程的输出,特别是对于大转角的旋转运动输出无能为力。并且单纯使用压电材料设计的步进式作动器也难以保证作动器的输出锁止能力,无法适应对作动器更高的要求,迫切需要一种驱动行程大,输出扭矩大,分辨率高,自锁能力可靠的步进式旋转作动器。With the continuous development of science and technology, higher requirements are put forward for the driving device in important industrial fields such as national defense, aerospace, and machinery manufacturing. Due to the limitations of its working principle and structural form, the traditional electromagnetic motor has been unable to meet the new requirements. requirements. In recent years, piezoelectric stack driving devices have effectively filled this gap. However, due to the shortcoming of the small actuating stroke of the piezoelectric material, it is difficult to realize the output of a large stroke, especially for the output of the rotary motion with a large rotation angle. Moreover, the stepping actuator designed solely with piezoelectric materials is also difficult to guarantee the output locking ability of the actuator, and cannot meet the higher requirements for the actuator. There is an urgent need for a stepping actuator with a large driving stroke, a large output torque, and a resolution Stepping rotary actuator with high efficiency and reliable self-locking ability.
发明内容Contents of the invention
为了满足上述需求,本发明的目的在于提供一种压电堆及马达联合驱动的大扭矩大行程旋转作动器及方法,使用压电堆与马达驱动的锁止机构互相配合,采用螺母旋转的方式进行锁紧,并且利用无自锁的大导程丝杠装置完成直线至旋转运动转化,具有旋转驱动行程大,双向输出大扭矩,断电锁止,锁紧可靠、稳定的特点。In order to meet the above needs, the object of the present invention is to provide a large torque and large stroke rotary actuator and method driven jointly by a piezoelectric stack and a motor. Locking is carried out by means of self-locking, large-lead lead screw device without self-locking to complete the conversion from linear to rotary motion. It has the characteristics of large rotary driving stroke, bidirectional output of large torque, power-off locking, reliable and stable locking.
为达到上述目的,本发明所采用的技术方案如下:In order to achieve the above object, the technical scheme adopted in the present invention is as follows:
压电堆及马达混合驱动的大扭矩大行程旋转作动器,包括菱形环2,安装在菱形环2长轴内的压电堆1,连接于菱形环2长轴一端的第一螺纹连杆3-1,通过螺纹与螺纹连杆3-1连接的第一锁止螺母4-1,同时第一锁止螺母4-1作为旋转机构转子,外侧嵌套有第一驱动定子5-1;连接于菱形环2长轴另一端的带有大导程丝杠螺纹的第二螺纹连杆3-2,通过螺纹与第二螺纹连杆3-2连接的第二锁止螺母4-2,以第二锁止螺母4-2作为转子,外侧嵌套有第二驱动定子5-2,与第二螺纹连杆3-2通过大导程螺纹连接的丝杠螺母8,安装于丝杠螺母8两侧的第一推力球轴承7-1和第二推力球轴承7-2,以及封装上述部件的外壳6;所述外壳6设置有与菱形环2、第一螺纹连杆3-1和第二螺纹连杆3-2形状相配合的限位槽,以限制压电堆1、菱形环2、以及第一螺纹连杆3-1和第二螺纹连杆3-2的圆周方向旋转;所述外壳6与第一锁止螺母4-1和第二锁止螺母4-2之间存在间隙,以实现第一锁止螺母4-1和第二锁止螺母4-2对不同方向的位移锁止功能。A large-torque and large-stroke rotary actuator driven by a piezoelectric stack and a motor hybrid, including a diamond ring 2, a piezoelectric stack 1 installed in the long axis of the diamond ring 2, and a first threaded connecting rod connected to one end of the long axis of the diamond ring 2 3-1, the first lock nut 4-1 connected to the threaded connecting rod 3-1 through threads, and the first lock nut 4-1 is used as the rotor of the rotating mechanism, and the first drive stator 5-1 is nested outside; A second threaded connecting rod 3-2 with a large lead screw thread connected to the other end of the long axis of the diamond ring 2, a second lock nut 4-2 connected to the second threaded connecting rod 3-2 by threads, The second lock nut 4-2 is used as the rotor, and the second drive stator 5-2 is nested on the outside, and the lead screw nut 8 that is threaded with the second threaded connecting rod 3-2 through a large lead is installed on the lead screw nut 8, the first thrust ball bearing 7-1 and the second thrust ball bearing 7-2 on both sides, and the housing 6 that encapsulates the above-mentioned components; the housing 6 is provided with a diamond ring 2, the first threaded connecting rod 3-1 and The limit groove of the second threaded connecting rod 3-2 is matched in shape to limit the circumferential rotation of the piezoelectric stack 1, the diamond ring 2, and the first threaded connecting rod 3-1 and the second threaded connecting rod 3-2; There is a gap between the housing 6 and the first lock nut 4-1 and the second lock nut 4-2, so as to realize the alignment of the first lock nut 4-1 and the second lock nut 4-2 in different directions. Displacement lock function.
通过压电堆1与第一驱动定子5-1和第二驱动定子5-2混合驱动实现大行程直线位移。Large-stroke linear displacement is realized through hybrid driving of the piezoelectric stack 1 and the first driving stator 5-1 and the second driving stator 5-2.
所述第二螺纹连杆3-2为非自锁丝杠,使用非自锁丝杠进行直线运动向旋转运动转化。The second threaded connecting rod 3-2 is a non-self-locking screw, and the non-self-locking screw is used to convert linear motion to rotary motion.
所述非自锁丝杠使用大导程梯形丝杠或使用滚珠丝杠无自锁效应的丝杠实现大行程、大扭矩的输出。The non-self-locking screw uses a trapezoidal screw with a large lead or a ball screw without a self-locking effect to achieve a large stroke and high torque output.
所述的压电堆及马达混合驱动大扭矩大行程旋转作动器实现旋转作动的方法,能实现双向旋转步进驱动;结构初始状态压电堆1与第一驱动定子5-1和第二驱动定子5-2都处于断电状态,依靠第一锁止螺母4-1和第二锁止螺母4-2通过旋紧锁止丝杠螺母8的位置;The method in which the piezoelectric stack and the motor hybrid drive the large-torque and large-stroke rotary actuator to realize the rotary motion can realize bidirectional rotary stepping drive; The two drive stators 5-2 are all in a power-off state, relying on the position of the first lock nut 4-1 and the second lock nut 4-2 by tightening the lock screw nut 8;
压电堆1推动丝杠螺母8正向旋转时采用如下步骤:第一步,同时启动第一驱动定子5-1和第二驱动定子5-2,第一驱动定子5-1带动第一锁止螺母4-1转动,在外壳6内的间隙中向远离压电堆1的方向运动,第二驱动定子5-2带动第二锁止螺母4-2在外壳6的间隙中向靠近压电堆1的方向运动;第二步,压电堆1通电,菱形环2受推动膨胀变形,同时将推动第二螺纹连杆3-2和第二锁止螺母4-2向丝杠螺母8的方向产生微小位移,丝杠螺母8受第二螺纹连杆3-2推动,在大导程螺纹作用下将正向旋转一微小角度;第三步,压电堆1保持通电,启动第二驱动定子5-2,驱动第二锁止螺母4-2在外壳6的间隙内旋转至靠近压电堆1的一侧;第四步,压电堆1断电,菱形环2弹性恢复,拉动第一螺纹连杆3-1和第一锁止螺母4-1向丝杠螺母8方向运动;至此,作动器恢复至步骤一之前的状态,并且与之相比,丝杠螺母8输出了一微小正向转角,重复上述过程即实现正向大扭矩旋转运动的步进输出;The following steps are adopted when the piezoelectric stack 1 pushes the lead screw nut 8 to rotate in the forward direction: first step, start the first drive stator 5-1 and the second drive stator 5-2 at the same time, and the first drive stator 5-1 drives the first lock The lock nut 4-1 rotates and moves away from the piezoelectric stack 1 in the gap in the shell 6, and the second drive stator 5-2 drives the second lock nut 4-2 to move closer to the piezoelectric stack 1 in the gap in the shell 6. In the second step, the piezoelectric stack 1 is energized, and the rhombic ring 2 is pushed to expand and deform, and at the same time, the second threaded connecting rod 3-2 and the second lock nut 4-2 will be pushed to the direction of the lead screw nut 8. The direction produces a small displacement, and the lead screw nut 8 is pushed by the second threaded connecting rod 3-2, and will rotate forward by a small angle under the action of the large-lead thread; the third step, the piezoelectric stack 1 is kept energized, and the second drive is started The stator 5-2 drives the second lock nut 4-2 to rotate in the gap of the shell 6 to the side close to the piezoelectric stack 1; in the fourth step, the piezoelectric stack 1 is powered off, and the rhombic ring 2 recovers elastically, pulling the first A threaded connecting rod 3-1 and the first lock nut 4-1 move towards the direction of the lead screw nut 8; so far, the actuator returns to the state before step 1, and compared with it, the lead screw nut 8 outputs a Small positive rotation angle, repeat the above process to realize the step output of positive large torque rotation motion;
压电堆1推动丝杠螺母8反向旋转时采用如下步骤:第一步,同时启动第一驱动定子5-1和第二驱动定子5-2,第一驱动定子5-1带动第一锁止螺母4-1转动,在外壳6内的间隙中向靠近压电堆1的方向运动,第二驱动定子5-2带动第二锁止螺母4-2在外壳6的间隙中向远离压电堆1的方向运动;第二步,压电堆1通电,菱形环2受推动膨胀变形,将推动第一螺纹连杆3-1和第一锁止螺母4-1同时向作动器远离压电堆1的方向产生微小位移;第三步,压电堆1保持通电,启动第一驱动定子5-1,驱动第一锁止螺母4-1在外壳6的间隙内旋转至靠近压电堆1的一侧;第四步,压电堆1断电,菱形环2弹性恢复,拉动第二螺纹连杆3-2和第二锁止螺母4-2向远离丝杠螺母8的方向运动,丝杠螺母8受螺第二螺纹连杆3-2拉动,在大导程螺纹作用下逆向旋转一微小角度;至此,作动器恢复至步骤一之前的状态,并且与之相比,丝杠螺母8输出了一微小逆向转角,重复上述过程即实现逆向大扭矩旋转运动的步进输出。The following steps are adopted when the piezoelectric stack 1 pushes the lead screw nut 8 to rotate in reverse: the first step starts the first driving stator 5-1 and the second driving stator 5-2 at the same time, and the first driving stator 5-1 drives the first lock The lock nut 4-1 rotates and moves in the direction close to the piezoelectric stack 1 in the gap in the shell 6, and the second driving stator 5-2 drives the second lock nut 4-2 to move away from the piezoelectric stack 1 in the gap in the shell 6. In the second step, the piezoelectric stack 1 is energized, and the rhombic ring 2 is pushed to expand and deform, and will push the first threaded connecting rod 3-1 and the first lock nut 4-1 to move away from the actuator at the same time. The direction of the stack 1 produces a small displacement; the third step, the piezoelectric stack 1 is kept energized, the first driving stator 5-1 is started, and the first lock nut 4-1 is driven to rotate in the gap of the shell 6 to approach the piezoelectric stack 1 side; in the fourth step, the piezoelectric stack 1 is powered off, and the diamond ring 2 elastically recovers, pulling the second threaded connecting rod 3-2 and the second lock nut 4-2 to move away from the lead screw nut 8, The lead screw nut 8 is pulled by the second threaded connecting rod 3-2 of the screw, and reversely rotates a small angle under the action of the large-lead thread; at this point, the actuator returns to the state before step 1, and compared with it, the lead screw The nut 8 outputs a small reverse rotation angle, repeating the above-mentioned process realizes the step output of reverse large torque rotation motion.
与现有技术相比,本发明具有下述优势:Compared with prior art, the present invention has following advantage:
1、相比于传统的旋转电机,本发明所描述的作动器能够达到极高的旋转运动作动精度,并且通过步进的方式,能够实现大转角运动输出。1. Compared with traditional rotating motors, the actuator described in the present invention can achieve extremely high rotational motion actuation accuracy, and can realize large-angle motion output through stepping.
2、使用压电堆推动输出扭矩能够实现现有技术无法实现的大扭矩驱动输出。2. Using the piezoelectric stack to drive the output torque can achieve a large torque drive output that cannot be achieved in the prior art.
3、不同于依靠摩擦力进行锁止的传统压电堆作动器,本发明利用旋紧螺母锁止,具有极高的稳定性。3. Unlike traditional piezoelectric stack actuators that rely on frictional force for locking, the present invention utilizes tightening nuts for locking, which has extremely high stability.
4、结构能够实现断电自锁,可以再完成作动后断开电源,节能环保。4. The structure can realize power-off self-locking, and the power supply can be disconnected after the action is completed, which is energy-saving and environmentally friendly.
5、作动器结构简单,便于加工安装。5. The structure of the actuator is simple, easy to process and install.
附图说明Description of drawings
图1为本发明作动装置的剖视图Fig. 1 is the sectional view of actuating device of the present invention
图2为本发明作动器的结构示意图。Fig. 2 is a structural schematic diagram of the actuator of the present invention.
具体实施方式detailed description
下面结合附图和具体实施方式对本发明作进一步详细说明:Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
如图1和图2所示,本发明压电堆及马达混合驱动的大扭矩大行程旋转作动器,包括菱形环2,安装在菱形环2长轴内的压电堆1,连接于菱形环2长轴一端的第一螺纹连杆3-1,通过螺纹与螺纹连杆3-1连接的第一锁止螺母4-1,同时第一锁止螺母4-1作为旋转机构转子,外侧嵌套有第一驱动定子5-1;连接于菱形环2长轴另一端的带有大导程丝杠螺纹的第二螺纹连杆3-2,通过螺纹与第二螺纹连杆3-2连接的第二锁止螺母4-2,以第二锁止螺母4-2作为转子,外侧嵌套有第二驱动定子5-2,与第二螺纹连杆3-2通过大导程螺纹连接的丝杠螺母8,安装于丝杠螺母8两侧的第一推力球轴承7-1和第二推力球轴承7-2,以及封装上述部件的外壳6;所述外壳6设置有与菱形环2、第一螺纹连杆3-1和第二螺纹连杆3-2形状相配合的限位槽,以限制压电堆1、菱形环2、以及第一螺纹连杆3-1和第二螺纹连杆3-2的圆周方向旋转;所述外壳6与第一锁止螺母4-1和第二锁止螺母4-2之间存在间隙,以实现第一锁止螺母4-1和第二锁止螺母4-2对不同方向的位移锁止功能。As shown in Figures 1 and 2, the high-torque and large-stroke rotary actuator driven by the piezoelectric stack and the motor hybrid of the present invention includes a rhombic ring 2, and the piezoelectric stack 1 installed in the long axis of the rhombic ring 2 is connected to the rhombic The first threaded connecting rod 3-1 at one end of the long axis of the ring 2, the first lock nut 4-1 connected to the threaded connecting rod 3-1 through threads, and the first lock nut 4-1 as the rotor of the rotating mechanism, the outer The first driving stator 5-1 is nested; the second threaded connecting rod 3-2 with a large lead screw thread connected to the other end of the long axis of the rhombic ring 2, and the second threaded connecting rod 3-2 through the thread The connected second lock nut 4-2, with the second lock nut 4-2 as the rotor, is nested with the second drive stator 5-2 on the outside, and is threaded with the second threaded connecting rod 3-2 through a large lead The lead screw nut 8, the first thrust ball bearing 7-1 and the second thrust ball bearing 7-2 installed on both sides of the lead screw nut 8, and the shell 6 that encapsulates the above components; the shell 6 is provided with a rhombus ring 2. The first threaded connecting rod 3-1 and the second threaded connecting rod 3-2 are matched in shape to limit the piezoelectric stack 1, the diamond ring 2, and the first threaded connecting rod 3-1 and the second threaded connecting rod 3-1 and the second The threaded connecting rod 3-2 rotates in the circumferential direction; there is a gap between the shell 6 and the first lock nut 4-1 and the second lock nut 4-2, so as to realize the first lock nut 4-1 and the second lock nut 4-1. Two locking nuts 4-2 have a displacement locking function in different directions.
本发明通过压电堆1与第一驱动定子5-1和第二驱动定子5-2混合驱动实现大行程直线位移。In the present invention, large-stroke linear displacement is realized through hybrid driving of the piezoelectric stack 1 and the first driving stator 5-1 and the second driving stator 5-2.
作为本发明的优选实施方式所述第二螺纹连杆3-2为非自锁丝杠,使用非自锁丝杠进行直线运动向旋转运动转化。As a preferred embodiment of the present invention, the second threaded connecting rod 3-2 is a non-self-locking screw, and the non-self-locking screw is used to convert linear motion to rotary motion.
进一步地,所述非自锁丝杠使用大导程梯形丝杠或使用滚珠丝杠无自锁效应的丝杠实现大行程、大扭矩的输出。Further, the non-self-locking screw uses a large-lead trapezoidal screw or a ball screw without self-locking effect to achieve a large stroke and high torque output.
所述的压电堆及马达混合驱动的大扭矩大行程旋转作动器实现旋转作动的方法,其特征在于:能实现双向旋转步进驱动;结构初始状态压电堆1与第一驱动定子5-1和第二驱动定子5-2都处于断电状态,依靠第一锁止螺母4-1和第二锁止螺母4-2通过旋紧锁止丝杠螺母8的位置;The method for realizing the rotary actuation of the high-torque and large-stroke rotary actuator driven by the piezoelectric stack and the motor is characterized in that: it can realize two-way rotary stepping drive; the initial state of the structure piezoelectric stack 1 and the first drive stator Both 5-1 and the second drive stator 5-2 are in a power-off state, relying on the position of the first lock nut 4-1 and the second lock nut 4-2 by tightening the lock lead screw nut 8;
压电堆1推动丝杠螺母8正向旋转时采用如下步骤:第一步,同时启动第一驱动定子5-1和第二驱动定子5-2,第一驱动定子5-1带动第一锁止螺母4-1转动,在外壳6内的间隙中向远离压电堆1的方向运动,第二驱动定子5-2带动第二锁止螺母4-2在外壳6的间隙中向靠近压电堆1的方向运动;第二步,压电堆1通电,菱形环2受推动膨胀变形,同时将推动第二螺纹连杆3-2和第二锁止螺母4-2向丝杠螺母8的方向产生微小位移,丝杠螺母8受第二螺纹连杆3-2推动,在大导程螺纹作用下将正向旋转一微小角度;第三步,压电堆1保持通电,启动第二驱动定子5-2,驱动第二锁止螺母4-2在外壳6的间隙内旋转至靠近压电堆1的一侧;第四步,压电堆1断电,菱形环2弹性恢复,拉动第一螺纹连杆3-1和第一锁止螺母4-1向丝杠螺母8方向运动;至此,作动器恢复至步骤一之前的状态,并且与之相比,丝杠螺母8输出了一微小正向转角,重复上述过程即实现正向大扭矩旋转运动的步进输出;The following steps are adopted when the piezoelectric stack 1 pushes the lead screw nut 8 to rotate in the forward direction: first step, start the first drive stator 5-1 and the second drive stator 5-2 at the same time, and the first drive stator 5-1 drives the first lock The lock nut 4-1 rotates and moves away from the piezoelectric stack 1 in the gap in the shell 6, and the second drive stator 5-2 drives the second lock nut 4-2 to move closer to the piezoelectric stack 1 in the gap in the shell 6. In the second step, the piezoelectric stack 1 is energized, and the rhombic ring 2 is pushed to expand and deform, and at the same time, the second threaded connecting rod 3-2 and the second lock nut 4-2 will be pushed to the direction of the lead screw nut 8. The direction produces a small displacement, and the lead screw nut 8 is pushed by the second threaded connecting rod 3-2, and will rotate forward by a small angle under the action of the large-lead thread; the third step, the piezoelectric stack 1 is kept energized, and the second drive is started The stator 5-2 drives the second lock nut 4-2 to rotate in the gap of the shell 6 to the side close to the piezoelectric stack 1; in the fourth step, the piezoelectric stack 1 is powered off, and the rhombic ring 2 recovers elastically, pulling the first A threaded connecting rod 3-1 and the first lock nut 4-1 move towards the direction of the lead screw nut 8; so far, the actuator returns to the state before step 1, and compared with it, the lead screw nut 8 outputs a Small positive rotation angle, repeat the above process to realize the step output of positive large torque rotation motion;
压电堆1推动丝杠螺母8反向旋转时采用如下步骤:第一步,同时启动第一驱动定子5-1和第二驱动定子5-2,第一驱动定子5-1带动第一锁止螺母4-1转动,在外壳6内的间隙中向靠近压电堆1的方向运动,第二驱动定子5-2带动第二锁止螺母4-2在外壳6的间隙中向远离压电堆1的方向运动;第二步,压电堆1通电,菱形环2受推动膨胀变形,将推动第一螺纹连杆3-1和第一锁止螺母4-1同时向远离压电堆1的方向产生微小位移;第三步,压电堆1保持通电,启动第一驱动定子5-1,驱动第一锁止螺母4-1在外壳6的间隙内旋转至靠近压电堆1的一侧;第四步,压电堆1断电,菱形环2弹性恢复,拉动第二螺纹连杆3-2和第二锁止螺母4-2向远离丝杠螺母8的方向运动,丝杠螺母8受螺第二螺纹连杆3-2拉动,在大导程螺纹作用下逆向旋转一微小角度;至此,作动器恢复至步骤一之前的状态,并且与之相比,丝杠螺母8输出了一微小逆向转角,重复上述过程即实现逆向大扭矩旋转运动的步进输出。The following steps are adopted when the piezoelectric stack 1 pushes the lead screw nut 8 to rotate in reverse: the first step starts the first driving stator 5-1 and the second driving stator 5-2 at the same time, and the first driving stator 5-1 drives the first lock The lock nut 4-1 rotates and moves in the direction close to the piezoelectric stack 1 in the gap in the shell 6, and the second driving stator 5-2 drives the second lock nut 4-2 to move away from the piezoelectric stack 1 in the gap in the shell 6. In the second step, the piezoelectric stack 1 is energized, and the rhombic ring 2 is pushed to expand and deform, pushing the first threaded connecting rod 3-1 and the first lock nut 4-1 away from the piezoelectric stack 1 at the same time In the third step, the piezoelectric stack 1 is kept energized, the first driving stator 5-1 is started, and the first locking nut 4-1 is driven to rotate to a position close to the piezoelectric stack 1 in the gap of the shell 6. side; in the fourth step, the piezoelectric stack 1 is powered off, the diamond ring 2 is elastically restored, and the second threaded connecting rod 3-2 and the second lock nut 4-2 are pulled to move away from the lead screw nut 8, and the lead screw nut 8 is pulled by the second threaded connecting rod 3-2 of the screw, and reversely rotates a small angle under the action of the large-lead thread; so far, the actuator returns to the state before step 1, and compared with it, the screw nut 8 outputs A small reverse rotation angle, repeat the above process to realize the step output of reverse large torque rotary motion.
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