CN110138264B - A piezoelectric inchworm rotating motor - Google Patents

Abstract

The invention discloses a piezoelectric inchworm rotating motor, comprising a base plate for fixing, a first end cover and a second end cover vertically connected to the base plate, and an output shaft arranged between the first end cover and the second end cover a sleeve fixed on the output shaft, one side of the sleeve is provided with a first clamping part and a first driving part, and the other side is provided with a second clamping part and a second driving part. The sleeve is a connecting piece for external output, which is fixed on the output shaft and rotates synchronously with the output shaft; the first driving part is provided with a first rigid rotating body that rotates forward after being energized, and the second driving part is provided with a reverse rotation after being energized The second rigid rotating body, the first clamping part rotates synchronously with the first rigid rotating body, and the second clamping part rotates synchronously with the second rigid rotating body. The advantages of the present invention are simple structure, sufficient clamping and releasing, power-off clamping, and the output shaft can be realized by timing control of the first clamping part, the second clamping part, the first driving part and the second driving part the "one-shot two-step" rotation.

Description

A piezoelectric inchworm rotating motor

technical field

The invention belongs to the technical field of nano-positioning, and relates to a precise rotary driver with large rotational angle stroke and high rotational angle resolution, in particular to a piezoelectric inchworm rotary motor.

Background technique

The piezoelectric inchworm rotary motor is a precision rotary driver that can achieve both 360º rotation and high angle resolution in arcseconds. It is based on the inchworm crawling principle in bionics, and continuously accumulates the tiny displacement of the piezoelectric actuator, thereby becoming a continuous large stroke angular displacement. Compared with the electromagnetic rotary motor, the piezoelectric inchworm rotary motor has the advantages of no magnetic field and easy control. Compared with the piezoelectric rotary motor of the ultrasonic resonance type and inertia drive type, it has the advantages of large output force, high power density, stable positioning, and no friction. wear and tear. Therefore, in some precision positioning fields that require large angular travel and high angular resolution, piezoelectric inchworm rotary motors have more advantages. However, the current piezoelectric inchworm rotating motor still has the following shortcomings:

1) The overall structure of the motor is complex and not compact;

2) The clamping displacement or release displacement of the clamping unit is the output displacement of the piezoelectric actuator, and the output displacement of the piezoelectric actuator is very small. In order for the clamping unit to clamp and release reliably, it is required to clamp The bit unit and drive unit must have very high processing and assembly accuracy;

3) The output displacement of the clamping unit is small, the output shaft cannot be fully clamped or released, the output shaft cannot be fully clamped, the clamping force it receives will be reduced, and the motion stability will be reduced; If it cannot be fully released, serious friction and wear will occur, reducing the life of the motor;

4) The motor cannot be self-locked (that is, it cannot be clamped by power off), that is, when the motor is not working, the output shaft cannot be clamped by the clamping unit;

5) The output shaft only rotates one step in one driving voltage cycle (ie, one beat), and the motor moves slowly.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a piezoelectric inchworm rotating motor with a simple and compact structure, capable of fully clamping and releasing, power-off clamping, and fast rotation speed in view of the current state of the prior art.

The technical solution adopted by the present invention to solve the above technical problems is as follows: a piezoelectric inchworm rotating motor, comprising a base plate for fixing, a first end cover and a second end cover vertically connected to the base plate, and arranged on the first end cover and the second end cover. The output shaft between the second end caps is fixed on the sleeve of the output shaft, the first driving part and the second driving part are respectively provided on both sides of the sleeve, and the first driving part and the sleeve are provided with a first driving part. a clamping part, a second clamping part is arranged between the second driving part and the sleeve;

The first driving part includes a first rigid ring screwed on the first end cover, a first rigid rotating body arranged in the first rigid ring, and a first rigid rotating body that pushes the first rigid rotating body to rotate forward after being energized on the first rigid ring. the first driving piezoelectric actuator, the first rigid rotating body is provided with a first shaft hole sleeved on the output shaft;

The second driving part includes a second rigid ring screwed on the second end cover, a second rigid rotating body disposed in the second rigid ring, and a second rigid rotating body that pushes the second rigid rotating body to reverse after electrification on the second rigid ring. The second driving piezoelectric actuator, the second rigid rotating body is provided with a second shaft hole sleeved on the output shaft;

The first clamping part includes a third rigid ring screwed on the first rigid rotating body, a pair of first bridge-type amplifying mechanisms arranged in the third rigid ring, and a first bridge-type amplifier mechanism arranged in the first bridge-type amplifying mechanism. Piezoelectric actuator for release; the first bridge-type amplification mechanism includes a first rigid body, a fourth rigid body, a second rigid body and a third rigid body arranged in a diamond shape in sequence, and the first rigid body, the second rigid body and the third rigid body are sequentially connected. The fourth rigid body, the second rigid body, the third rigid body and the first flexible sheet of the first rigid body, the third rigid body is arranged on the third rigid ring, the fourth rigid body is clamped on the output shaft, the first release A piezoelectric actuator is placed on top between the first rigid body and the second rigid body;

The second clamping part includes a fourth rigid ring screwed on the second rigid rotating body, a pair of second bridge-type amplifying mechanisms disposed in the fourth rigid ring, and a second bridge-type amplifying mechanism disposed in the second bridge-type amplifying mechanism A piezoelectric actuator for release; the second bridge-type amplification mechanism includes a fifth rigid body, an eighth rigid body, a sixth rigid body and a seventh rigid body arranged in a diamond shape in sequence, and the fifth rigid body, The second flexible sheet of the eighth rigid body, the sixth rigid body, the seventh rigid body and the fifth rigid body, the seventh rigid body is arranged on the fourth rigid ring, the eighth rigid body is clamped on the output shaft, the second release A piezoelectric actuator is placed on top between the fifth rigid body and the sixth rigid body;

In order to optimize the above technical solutions, the measures taken also include:

A first rigid floating block and a first flexible hinge are arranged in sequence between the end of the first piezoelectric actuator for driving and the first rigid rotating body, and the first rigid ring is provided with a pressure for positioning the first driving. a first positioning groove of the electric actuator, the first positioning groove is provided with a first pre-tightening screw screwed in from the outside of the first rigid ring;

Between the end of the second driving piezoelectric actuator and the second rigid rotating body, a second rigid floating block and a second flexible hinge are arranged in sequence, and the second rigid ring is provided with a second rigid ring for positioning the second driving piezoelectric actuator. The second positioning groove is provided with a second pre-tightening screw screwed in from the outside of the second rigid ring.

The number of the above-mentioned first piezoelectric actuators for driving is two, and they are respectively arranged in rotational symmetry with the first shaft hole as the center;

The number of the second piezoelectric actuators for driving is two, and they are respectively arranged in rotational symmetry with the second shaft hole as the center.

A third flexible thin plate is connected between the above-mentioned first rigid rotating body and the first rigid ring, and the third flexible thin plates are arranged in pairs in rotational symmetry with the first shaft hole as the center;

A fourth flexible thin plate is connected between the second rigid rotating body and the second rigid ring, and the fourth flexible thin plates are arranged in pairs in rotational symmetry with the first shaft hole as the center.

The first shaft hole and the output shaft are arranged with a gap, and the second shaft hole and the output shaft are arranged with a gap.

The above-mentioned fourth rigid body is provided with a first arc-shaped surface that is closely matched with the outer contour of the output shaft; the eighth rigid body is provided with a second arc-shaped surface that is closely matched to the outer contour of the output shaft.

The above-mentioned first end cover is provided with a third shaft hole for the output shaft to rotate, and the second end cover is provided with a fourth shaft hole for the output shaft to rotate.

The above-mentioned sleeve includes a first split and a second split which are oppositely clamped on the output shaft, and a third pre-tightening screw is screwed between the first split and the second split.

There are gaps between the above-mentioned first bridge-type amplifying mechanism and the sleeve and between the first driving part and the second bridge-type amplifying mechanism, respectively; and between the second driving part and the second driving part. set up.

The above-mentioned third rigid ring is screwed with a fourth pre-tightening screw, and the fourth pre-tightening screw is coaxial with the first release piezoelectric actuator, and is mounted on the top of the first rigid body of the first bridge-type amplifying mechanism; A fifth pre-tightening screw is screwed on the fourth rigid ring, the fifth pre-tightening screw is coaxial with the second release piezoelectric actuator, and is top mounted on the fifth rigid body of the second bridge-type amplifying mechanism.

The above-mentioned first rigid ring, third flexible sheet, first rigid rotating body, first rigid floating block and first flexible hinge are integrally formed;

The second rigid ring, the fourth flexible sheet, the second rigid rotating body, the second rigid floating block and the second flexible hinge are integrally formed;

The third rigid ring, the first rigid body, the second rigid body, the third rigid body, the fourth rigid body and the first flexible sheet are integrally formed;

The fourth rigid ring, the fifth rigid body, the sixth rigid body, the seventh rigid body, the eighth rigid body and the second flexible sheet are integrally formed.

Compared with the prior art, a piezoelectric inchworm rotating motor of the present invention includes a base plate for fixing, a first end cover and a second end cover that are vertically connected to the base plate, and are arranged on the first end cover and the second end cover. The output shaft between the covers is fixed on the sleeve of the output shaft, the two sides of the sleeve are respectively provided with a first driving part and a second driving part, and a first clamping part is arranged between the first driving part and the sleeve , a second clamping part is arranged between the second driving part and the sleeve. The sleeve is a connecting piece for external output, which is fixed on the output shaft and rotates synchronously with the output shaft; the first driving part is provided with a first rigid rotating body that rotates forward after being energized, and the second driving part is provided with a reverse rotation after being energized The second rigid rotating body, the first clamping part rotates synchronously with the first rigid rotating body, and the second clamping part rotates synchronously with the second rigid rotating body. Through the timing control of the first clamping part, the second clamping part, the first driving part and the second driving part, the "single shot and two steps" rotation of the output shaft can be realized. Compared with the existing rotating electrical machines, the advantages of the present invention are:

1) The overall structure of the motor is simple and compact;

2) The clamping mechanism is integrated and the driving mechanism is integrated, which eliminates the assembly and adjustment process;

3) The clamping mechanism is composed of a bridge-type amplifying mechanism, which is easy to assemble and adjust the output shaft. The output shaft can be fully clamped and fully released, thereby reducing the friction and wear between the output shaft and the clamping mechanism and improving the output shaft. driving force;

4) Through the timing control of the first clamping part, the second clamping part, the first driving part and the second driving part, the "single shot and two steps" rotation of the output shaft can be realized, and the rotation speed is fast.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the exploded schematic diagram of Fig. 1;

Fig. 3 is the axial exploded schematic diagram of Fig. 1;

Fig. 4 is the structural representation of the first drive part in Fig. 3;

5 is a schematic structural diagram of the first clamping portion in FIG. 3;

Fig. 6 is the structural representation of the second clamping part in Fig. 3;

Fig. 7 is the structural representation of the second drive part in Fig. 3;

8 is a timing control diagram of a first clamping part, a second clamping part, a first driving part and a second driving part;

9 is a schematic diagram of the realization process of the output shaft and the sleeve rotating in the forward direction in one motion period T;

FIG. 10 is a schematic diagram of the realization process of the output shaft and the sleeve rotating in the opposite direction within one movement period T. FIG.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

1 to 7 are schematic structural diagrams of the present invention, wherein the reference numerals are: first driving part 1 , first rigid ring 11 , first positioning groove 111 , first rigid rotating body 12 , first shaft hole 121 , The first driving piezoelectric actuator 13, the first rigid slider 14, the first flexible hinge 15, the first preload screw 16, the third flexible thin plate 17, the first clamping part 2, the third rigid ring 21, the first A rigid body 22, a second rigid body 23, a third rigid body 24, a fourth rigid body 25, a first arc-shaped surface 251, a first flexible sheet 26, a first release piezoelectric actuator 27, a fourth preload Screw 28, first bridge magnifying mechanism 29, sleeve 3, first split 31, second split 32, third preload screw 33, second clamping part 4, fourth rigid ring 41, fifth rigidity Body 42 , sixth rigid body 43 , seventh rigid body 44 , eighth rigid body 45 , second arc surface 451 , second flexible sheet 46 , second release piezoelectric actuator 47 , fifth preload screw 48 , the second bridge amplifying mechanism 49, the second driving part 5, the second rigid ring 51, the second positioning groove 511, the second rigid rotating body 52, the second shaft hole 521, the second driving piezoelectric actuator 53, The second rigid floating block 54 , the second flexible hinge 55 , the second preload screw 56 , the fourth flexible thin plate 57 , the first end cover 61 , the second end cover 62 , the bottom plate 7 , and the output shaft 8 .

1 to 7 are schematic diagrams of the structure of the present invention. As shown in the figures, a piezoelectric inchworm rotating motor of the present invention includes a base plate 7 for fixing, a first end cover 61 and a second end cover 61 vertically connected to the base plate 7 The end cover 62, the output shaft 8 arranged between the first end cover 61 and the second end cover 62, is fixedly arranged on the sleeve 3 of the output shaft 8, the two sides of the sleeve 3 are respectively provided with the first driving part 1 and the For the second driving part 5, a first clamping part 2 is arranged between the first driving part 1 and the sleeve 3, and a second clamping part 4 is arranged between the second driving part 5 and the sleeve 3; the sleeve 3 is a The connecting piece for external output is fixed on the output shaft 8 and rotates synchronously with the output shaft 8 .

The first driving part 1 includes a first rigid ring 11 screwed to the first end cover 61 , a first rigid rotating body 12 disposed in the first rigid ring 11 , and a first rigid rotating body 12 disposed on the first rigid ring 11 to push the first rigid ring 11 after being energized. The first piezoelectric actuator 13 for driving is forwardly rotated by the rigid rotating body 12, and the first rigid rotating body 12 is provided with a first shaft hole 121 sleeved on the output shaft 8;

The second driving part 5 includes a second rigid ring 51 screwed to the second end cover 62 , a second rigid rotating body 52 disposed in the second rigid ring 51 , and a second rigid rotating body 52 disposed on the second rigid ring 51 to push the second rigid ring 51 after being energized. the second driving piezoelectric actuator 53 in which the rigid rotating body 52 is reversed, and the second rigid rotating body 52 is provided with a second shaft hole 521 sleeved on the output shaft 8;

The first clamping part 2 includes a third rigid ring 21 screwed on the first rigid rotating body 12 , a pair of first bridge-type amplification mechanisms 29 disposed in the third rigid ring 21 , and a pair of first bridge-type amplification mechanisms 29 disposed in the first bridge-type amplifier The first release piezoelectric actuator 27 in the mechanism 29; the first bridge amplification mechanism 29 includes a first rigid body 22, a fourth rigid body 25, a second rigid body 23 and a third rigid body arranged in a diamond shape in sequence body 24, and the first flexible sheet 26 connecting the first rigid body 22, the fourth rigid body 25, the second rigid body 23, the third rigid body 24 and the first rigid body 22 in sequence, and the third rigid body 24 is located in the On the third rigid ring 21, the fourth rigid body 25 is clamped on the output shaft 8, and the first release piezoelectric actuator 27 is set between the first rigid body 22 and the second rigid body 23; When the piezoelectric actuator 27 is energized and elongated, the first release piezoelectric actuator 27 will stretch the first rigid body 22 and the second rigid body 23, causing the first bridge-type amplifying mechanism 29 to deform, causing the fourth rigid body 25 to gradually expand. Approaching the third rigid body 24, and finally the fourth rigid body 25 leaves the output shaft 8; when the first release piezoelectric actuator 27 is powered off and restored, the first bridge amplifying mechanism 29 is restored, and finally the fourth rigid body is restored 25 Re-clamp on output shaft 8.

The second clamping part 4 includes a fourth rigid ring 41 screwed on the second rigid rotating body 52 , a pair of second bridge amplification mechanisms 49 arranged in the fourth rigid ring 41 , and a pair of second bridge amplification mechanisms 49 arranged in the second bridge amplification The second release piezoelectric actuator 47 in the mechanism 49; the second bridge amplification mechanism 49 includes a fifth rigid body 42, an eighth rigid body 45, a sixth rigid body 43 and a seventh rigid body arranged in a diamond shape in sequence body 44, and the second flexible sheet 46 connecting the fifth rigid body 42, the eighth rigid body 45, the sixth rigid body 43, the seventh rigid body 44 and the fifth rigid body 42 in sequence, the seventh rigid body 44 is provided in the On the fourth rigid ring 41, the eighth rigid body 45 is clamped on the output shaft 8, and the second release piezoelectric actuator 47 is placed between the fifth rigid body 42 and the sixth rigid body 43; The piezoelectric actuator 47 is energized and elongated, and the second release piezoelectric actuator 47 will stretch the fifth rigid body 42 and the sixth rigid body 43, causing the second bridge amplifying mechanism 49 to deform, so that the eighth rigid body 45 gradually expands. Approaching the seventh rigid body 44, and finally the eighth rigid body 45 leaves the output shaft 8; when the second release piezoelectric actuator 47 is powered off and restored, the second bridge amplifying mechanism 49 is restored, and finally the eighth rigid body is restored 45 re-clamped on output shaft 8.

The first clamping part 2 rotates synchronously with the first rigid rotating body 12 , and the second clamping part 4 rotates synchronously with the second rigid rotating body 52 . Through the timing control of the first clamping part 2 , the second clamping part 4 , the first driving part 1 and the second driving part 5 , the “single-shot, two-step” rotation of the output shaft 8 can be realized.

In the embodiment, between the end of the first driving piezoelectric actuator 13 and the first rigid rotating body 12, a first rigid floating block 14 and a first flexible hinge 15 are arranged in sequence, and the first rigid ring 11 is provided with a For positioning the first positioning groove 111 of the first driving piezoelectric actuator 13, the first positioning groove 111 is provided with a first preload screw 16 screwed in from the outside of the first rigid ring 11; the first preload screw 16 is used for In order to pre-fix the first piezoelectric actuator 13 for driving, the first positioning groove 111 can prevent the first piezoelectric actuator 13 from rotating and laterally offset, so as to ensure that the first preloading screw 16 and the first piezoelectric actuator for driving The device 13 is coaxial. Since the first piezoelectric actuator 13 for driving is fixed in the first positioning groove 111 , the gap between the piezoelectric actuator 13 for driving and the first rigid rotating body 12 is in the process of electrifying and extending. The included angle of the first rigid slider 14 and the first flexible hinge 15 can effectively transmit the displacement output by the first driving piezoelectric actuator 13 along the straight line to the first rigid rotating body 12 .

Between the end of the second driving piezoelectric actuator 53 and the second rigid rotating body 52, a second rigid floating block 54 and a second flexible hinge 55 are arranged in sequence, and the second rigid ring 51 is provided with a second rigid ring 51 for positioning the second rigid rotating body 52. The second positioning groove 511 of the piezoelectric actuator 53 for driving is provided with a second preload screw 56 screwed in from the outside of the second rigid ring 51 . The second pre-tightening screw 56 is used for pre-fixing the second driving piezoelectric actuator 53, and the second positioning groove 511 can prevent the second driving piezoelectric actuator 53 from rotating and laterally offset, ensuring that the second pre-tightening screw 56 is in contact with the second driving piezoelectric actuator 53. The second driving piezoelectric actuator 53 is coaxial. Since the second driving piezoelectric actuator 53 is fixed in the second positioning groove 511 , the second driving piezoelectric actuator 53 is connected to the second rigid rotating body 52 in the process of electrifying and extending. The included angle of the second rigid block 54 and the second flexible hinge 55 can effectively transmit the displacement output by the second driving piezoelectric actuator 53 along the straight line to the second rigid rotating body 52 .

In the embodiment, the number of the first piezoelectric actuators 13 for driving is two, which are respectively arranged in rotational symmetry with the first shaft hole 121 as the center; the first piezoelectric actuators 13 for driving are arranged in pairs in rotational symmetry. The first rigid rotating body 12 can be pushed evenly, and the axis of the first shaft hole 121 can be prevented from deviating from the axis of the output shaft 8 when the force is applied in one direction, thereby avoiding the compression of the output shaft 8 by the first rigid rotating body 12 .

The number of the second piezoelectric actuators 53 for driving is two, and they are respectively arranged in rotational symmetry with the second shaft hole 521 as the center. The second piezoelectric actuators 53 for driving, which are arranged in pairs in rotational symmetry, can push the first rigid rotating body evenly, so as to prevent the axis of the second shaft hole 521 from deviating from the axis of the output shaft 8 when the force is applied in one direction. The pressing of the output shaft 8 by the second rigid rotating body 52 is avoided.

In the embodiment, a third flexible sheet 17 is connected between the first rigid rotating body 12 and the first rigid ring 11 , and the third flexible sheets 17 are arranged in pairs in rotational symmetry with the first shaft hole 121 as the center; The thin plate 17 can enhance the rotational stability of the first rigid rotating body 12 and prevent the first rigid rotating body 12 from swinging in the axial direction.

A fourth flexible thin plate 57 is connected between the second rigid rotating body 52 and the second rigid ring 51 , and the fourth flexible thin plates 57 are arranged in pairs in rotational symmetry with the first shaft hole 121 as the center. The fourth flexible sheet 57 can enhance the rotational stability of the second rigid rotating body 52 and prevent the second rigid rotating body 52 from swinging in the axial direction.

In the embodiment, the first shaft hole 121 and the output shaft 8 are arranged with a gap, and the second shaft hole 521 and the output shaft 8 are arranged with a gap. The first driving part 1 and the second driving part 5 are only responsible for providing rotational power and do not generate friction with the output shaft 8 .

In the embodiment, the fourth rigid body 25 is provided with a first arc-shaped surface 251 which is closely matched with the outer contour of the output shaft 8 ; the eighth rigid body 45 is provided with a second arc-shaped surface 451 which is closely matched with the outer contour of the output shaft 8 . Both the first arc-shaped surface 251 and the second arc-shaped surface 451 can increase the contact area with the output shaft 8 , enhance the frictional force, and further increase the torque between the output shaft 8 and the sleeve 3 .

In the embodiment, the first end cover 61 is provided with a third shaft hole 611 for the output shaft 8 to rotate, and the second end cover 62 is provided with a fourth shaft hole 621 for the output shaft 8 to rotate.

In the embodiment, the sleeve 3 includes a first split 31 and a second split 32 that are oppositely clamped on the output shaft 8, and a third preload screw is screwed between the first split 31 and the second split 32. 33. The distance between the first split 31 and the second split 32 can be adjusted by adjusting the third pre-tightening screw 33 , so that the tightness of the contact surface between the sleeve 3 and the output shaft 8 can be adjusted.

In the embodiment, gaps are provided between the first bridge amplifying mechanism 29 and the sleeve 3, and between the first driving part 1; the second bridge amplifying mechanism 49 and the sleeve 3, and the second The driving parts 5 are respectively provided with gaps.

In the embodiment, a fourth pre-tightening screw 28 is screwed on the third rigid ring. The fourth pre-tightening screw 28 is coaxial with the first release piezoelectric actuator 27 and is set on top of the first bridge amplifier mechanism 29 . On the first rigid body 22; the fourth rigid ring is screwed with a fifth preload screw 48, the fifth preload screw 48 is coaxial with the second release piezoelectric actuator 47, and is set on top of the second bridge amplifier on the fifth rigid body 42 of the mechanism 49 . The fourth pre-tightening screw 28 can pre-tighten and fix the first release piezoelectric actuator 27 so that the first release piezoelectric actuator 27 can be tightly placed between the first rigid body 22 and the second rigid body 23 The fifth pre-tightening screw 48 can pre-tighten and fix the second release piezoelectric actuator 47, so that the second release piezoelectric actuator 47 can be tightly mounted on the fifth rigid body 42 and the seventh rigid body 44. between.

In the embodiment, the first rigid ring 11, the third flexible thin plate 17, the first rigid rotating body 12, the first rigid floating block 14 and the first flexible hinge 15 are integrally formed;

The second rigid ring 51, the fourth flexible sheet 57, the second rigid rotating body 52, the second rigid floating block 54 and the second flexible hinge 55 are integrally formed;

The third rigid ring 21, the first rigid body 22, the second rigid body 23, the third rigid body 24, the fourth rigid body 25 and the first flexible sheet 26 are integrally formed;

The fourth rigid ring 41 , the fifth rigid body 42 , the sixth rigid body 43 , the seventh rigid body 44 , the eighth rigid body 45 and the second flexible sheet 46 are integrally formed.

The integral molding structure simplifies the motor structure and facilitates assembly and debugging.

The working principle of the present invention is as follows:

Suppose the rotation direction of the first rigid rotating body 12 is forward after the first piezoelectric actuator 13 for driving is energized, and the rotating direction of the second rigid rotating body 52 after the second piezoelectric actuator 53 is energized is reverse. The realization process of the output shaft 8 and the sleeve 3 rotating in the forward direction in one motion period T is as follows:

As shown in FIG. 9 , in the first step, the second clamping portion 4 is released from the output shaft 8 . As shown in FIG. 8( a ), the second release piezoelectric actuator 47 is energized u(t), and the eighth rigid body 45 is released from the output shaft 8 ;

In the second step, the first driving part 1 and the first clamping part 2 drive the output shaft 8 to rotate one step forward, while the second driving part 5 and the second clamping part 4 idle one step in the reverse direction. Specifically: when the second release piezoelectric actuator 47 is energized and reaches a stable state (such as time t1 ), as shown in FIG. 8( b ), the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 13 When the actuator 53 is energized at the same time, the first drive part 1 drives the output shaft 8 to rotate one step forward, while the drive part idly rotates one step in the reverse direction;

In the third step, the second clamping part 4 is re-clamped on the output shaft 8 . Specifically: when the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 53 are energized and reach a stable state (such as time t2), as shown in FIG. 8( a ), the second releasing piezoelectric The actuator 47 is powered off, and the eighth rigid body 45 is clamped on the output shaft 8 again;

The fourth step is to release the first clamping part 2 from the output shaft 8 . Specifically: when the second release piezoelectric actuator 47 is powered off and reaches a stable state (eg time t3), as shown in FIG. 8( c ), the first release piezoelectric actuator 27 is energized, and the first rigid body is energized. 22 is released from the output shaft 8;

In the fifth step, the second driving part 5 drives the output shaft 8 to rotate forward by one step during the process of returning to the original position. Specifically: when the first release piezoelectric actuator 27 is energized and reaches a stable state (such as time t4), as shown in FIG. 8(b), the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 13 The actuator 53 is powered off at the same time, the first driving part 1, the first clamping part 2, the second driving part 5 and the second clamping part 4 rapidly rotate to the initial angle, and at the same time the second clamping part 4 drives the output shaft 8 Rotate one step forward;

In the sixth step, the first clamping part 2 is re-clamped on the output shaft 8 . Specifically: when the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 53 are powered off at the same time to reach a stable state (eg time t5 ), as shown in FIG. 8( c ), the first release The power is turned off by the piezoelectric actuator 27 , and the fourth rigid body 25 is clamped on the output shaft 8 again.

The process from the first step to the sixth step is to realize the "single-shot two-step" forward rotation of the output shaft 8 and the sleeve 3 .

The realization process of the reverse rotation of the output shaft 8 and the sleeve 3 in one movement period T is as follows:

As shown in FIG. 10 , in the first step, the first clamping part 2 is released from the output shaft 8 . As shown in FIG. 8( a ), the first release piezoelectric actuator 27 is energized, and the first rigid body 22 is released from the output shaft 8 ;

In the second step, the second driving part 5 and the second clamping part 4 drive the output shaft 8 to reverse by one step, while the first driving part 1 only drives the first clamping part 2 to idle forward. Specifically: when the first release piezoelectric actuator 27 is energized and reaches a stable state (such as time t1 ), as shown in FIG. 8( b ), the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 13 The actuator 53 is energized at the same time, the second driving part 5 drives the output shaft 8 to reverse by one step, and the first driving part 1 drives the first clamping part 2 to idle forward;

In the third step, the first clamping part 2 is re-clamped on the output shaft 8 . Specifically: when the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 53 are energized and reach a stable state (eg time t2 ), as shown in FIG. 8( a ), the first releasing piezoelectric The actuator 27 is powered off, and the first rigid body 22 is clamped on the output shaft 8 again;

The fourth step is to release the second clamping part 4 from the output shaft 8 . Specifically: when the first release piezoelectric actuator 27 is powered off and reaches a stable state (eg time t3), as shown in FIG. 8(c), the second release piezoelectric actuator 47 is energized, and the eighth rigid body is energized. 45 is released from the output shaft 8;

The fifth step is to make the second driving part 5 drive the second clamping part 4 to idle and reset in the forward direction during the process of returning to the original position, and the first driving part 1 drives the first clamping part 2 and the output shaft during the reset process. 8 Reverse one step. Specifically: when the second release piezoelectric actuator 47 is energized and reaches a stable state (such as time t4 ), as shown in FIG. 8( b ), the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 13 The actuator 53 is powered off at the same time, the first driving part 1 , the first clamping part 2 , the second driving part 5 and the second clamping part 4 rapidly rotate to the initial angle, and at the same time the first clamping part 2 drives the output shaft 8 reverse rotation one step;

In the sixth step, the second clamping part 4 is re-clamped on the output shaft 8 . Specifically: when the first driving piezoelectric actuator 13 and the second driving piezoelectric actuator 53 are powered off at the same time and reach a stable state (eg time t5), as shown in FIG. The piezoelectric actuator 47 is powered off, and the eighth rigid body 45 is clamped on the output shaft 8 again;

The process from the first step to the sixth step is to realize the "single-shot two-step" reversal of the output shaft 8 and the sleeve 3 .

The preferred embodiment of the present invention has been described, and various changes or modifications can be made by those skilled in the art without departing from the scope of the present invention.

Claims (10)

1. The utility model provides a piezoelectricity inchworm rotating electrical machines, including being used for fixed bottom plate (7), connect perpendicularly in first end cover (61) and second end cover (62) of bottom plate (7), locate first end cover (61) and second end cover (62) between output shaft (8), fixed sleeve (3) of locating output shaft (8), characterized by: a first driving part (1) and a second driving part (5) are respectively arranged on two sides of the sleeve (3), a first clamping part (2) is arranged between the first driving part (1) and the sleeve (3), and a second clamping part (4) is arranged between the second driving part (5) and the sleeve (3);

the first driving part (1) comprises a first rigid ring (11) fixed on the first end cover (61) in a threaded mode, a first rigid rotating body (12) arranged in the first rigid ring (11), and a first driving piezoelectric actuator (13) arranged on the first rigid ring (11) and used for pushing the first rigid rotating body (12) to rotate positively after being electrified, wherein the first rigid rotating body (12) is provided with a first shaft hole (121) sleeved on the output shaft (8);

the second driving part (5) comprises a second rigid ring (51) fixed on the second end cover (62) in a threaded mode, a second rigid rotating body (52) arranged in the second rigid ring (51), a second driving piezoelectric actuator (53) arranged on the second rigid ring (51) and used for pushing the second rigid rotating body (52) to rotate reversely after being electrified, and the second rigid rotating body (52) is provided with a second shaft hole (521) sleeved on the output shaft (8);

the first clamping part (2) comprises a third rigid ring (21) which is screwed on the first rigid rotating body (12), a pair of first bridge amplification mechanisms (29) which are arranged in the third rigid ring (21), and a first piezoelectric actuator (27) for releasing which is arranged in the first bridge amplification mechanisms (29); the first bridge type amplification mechanism (29) comprises a first rigid body (22), a fourth rigid body (25), a second rigid body (23) and a third rigid body (24) which are arranged in a rhombus shape in sequence, and a first flexible thin plate (26) which is connected with the first rigid body (22), the fourth rigid body (25), the second rigid body (23), the third rigid body (24) and the first rigid body (22) in sequence, wherein the third rigid body (24) is arranged on the second rigid ring (51), the fourth rigid body (25) is clamped on the output shaft (8), and the first piezoelectric actuator (27) for releasing is arranged between the first rigid body (22) and the second rigid body (23) in a propping manner;

the second clamping part (4) comprises a fourth rigid ring (41) screwed on the second rigid rotating body (52), a pair of second bridge amplification mechanisms (49) arranged in the fourth rigid ring (41), and a second piezoelectric actuator (47) for releasing arranged in the second bridge amplification mechanisms (49); the second bridge type amplification mechanism (49) comprises a fifth rigid body (42), an eighth rigid body (45), a sixth rigid body (43) and a seventh rigid body (44) which are arranged in a rhombus shape in sequence, and a second flexible thin plate (46) which is connected with the fifth rigid body (42), the eighth rigid body (45), the sixth rigid body (43), the seventh rigid body (44) and the fifth rigid body (42) in sequence, wherein the seventh rigid body (44) is arranged on the fourth rigid ring (41), the eighth rigid body (45) is clamped on the output shaft (8), and the second piezoelectric actuator (47) for releasing is arranged between the fifth rigid body (42) and the sixth rigid body (43) in a propping manner.

2. The piezoelectric inchworm-like rotating electrical machine according to claim 1, wherein: a first rigid floating block (14) and a first flexible hinge (15) are sequentially arranged between the end part of the first piezoelectric actuator (13) for driving and the first rigid rotating body (12), the first rigid ring (11) is provided with a first positioning groove (111) for positioning the first piezoelectric actuator (13) for driving, and the first positioning groove (111) is provided with a first pre-tightening screw (16) screwed from the outside of the first rigid ring (11);

a second rigid slider (54) and a second flexible hinge (55) are sequentially arranged between the end part of the second piezoelectric actuator (53) for driving and the second rigid rotating body (52), a second positioning groove (511) for positioning the second piezoelectric actuator (53) for driving is formed in the second rigid ring (51), and a second pre-tightening screw (56) screwed in from the outside of the second rigid ring (51) is arranged in the second positioning groove (511).

3. A piezoelectric inchworm-like rotating electrical machine according to claim 2, characterized in that: the number of the first piezoelectric actuators (13) for driving is two, and the first piezoelectric actuators are respectively arranged in a rotational symmetry manner by taking the first shaft hole (121) as a center;

the number of the second driving piezoelectric actuators (53) is two, and the second driving piezoelectric actuators are respectively arranged in a rotational symmetry manner by taking the second shaft hole (521) as a center.

4. A piezoelectric inchworm-like rotating electrical machine according to claim 3, characterized in that: a third flexible thin plate (17) is connected between the first rigid rotating body (12) and the first rigid ring (11), and the third flexible thin plates (17) are arranged in a pair in a rotational symmetry manner by taking the first shaft hole (121) as a center;

and a fourth flexible thin plate (57) is connected between the second rigid rotating body (52) and the second rigid ring (51), and the fourth flexible thin plates (57) are arranged in a pair in a rotational symmetry mode by taking the first shaft hole (121) as a center.

5. The piezoelectric inchworm-like rotating machine according to claim 4, wherein: the first shaft hole (121) and the output shaft (8) are arranged in a clearance mode, and the second shaft hole (521) and the output shaft (8) are arranged in a clearance mode;

the fourth rigid body (25) is provided with a first arc-shaped surface (251) which is matched with the outer contour of the output shaft (8); the eighth rigid body (45) is provided with a second arc-shaped surface (451) which is matched with the outer contour of the output shaft (8).

6. The piezoelectric inchworm-like rotating machine according to claim 5, wherein: the first end cover (61) is provided with a third shaft hole (611) for the rotation of the output shaft (8), and the second end cover (62) is provided with a fourth shaft hole (621) for the rotation of the output shaft (8).

7. The piezoelectric inchworm-like rotating machine according to claim 6, wherein: the sleeve (3) comprises a first split (31) and a second split (32) which are oppositely clamped on the output shaft (8), and a third pre-tightening screw (33) is screwed between the first split (31) and the second split (32).

8. The piezoelectric inchworm-like rotating machine according to claim 7, wherein: gaps are respectively arranged between the first bridge type amplification mechanism (29) and the sleeve (3) and between the first bridge type amplification mechanism and the first driving part (1); the second bridge type amplification mechanism (49) and the sleeve (3) and the second driving part (5) are arranged in a clearance mode respectively.

9. The piezoelectric inchworm-like rotating electrical machine according to claim 8, wherein: a fourth pre-tightening screw (28) is screwed on the third rigid ring, and the fourth pre-tightening screw (28) is coaxial with the first piezoelectric actuator (27) for releasing and is propped against the first rigid body (22) of the first bridge type amplification mechanism (29); and a fifth pre-tightening screw (48) is screwed on the fourth rigid ring, and the fifth pre-tightening screw (48) is coaxial with the second release piezoelectric actuator (47) and is propped against a fifth rigid body (42) of the second bridge type amplification mechanism (49).

10. The piezoelectric inchworm-like rotating electrical machine according to claim 9, wherein: the first rigid ring (11), the third flexible thin plate (17), the first rigid rotating body (12), the first rigid floating block (14) and the first flexible hinge (15) are of an integrally formed structure;

the second rigid ring (51), the fourth flexible thin plate (57), the second rigid rotating body (52), the second rigid floating block (54) and the second flexible hinge (55) are of an integrally formed structure;

the third rigid ring (21), the first rigid body (22), the second rigid body (23), the third rigid body (24), the fourth rigid body (25) and the first flexible thin plate (26) are of an integrally formed structure;

the fourth rigid ring (41), the fifth rigid body (42), the sixth rigid body (43), the seventh rigid body (44), the eighth rigid body (45) and the second flexible thin plate (46) are of an integrally formed structure.

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