CN209930167U - Double-shaft parallel output type piezoelectric actuator - Google Patents

Abstract

The utility model discloses a parallelly connected output type piezoelectric actuator of biax contains first rotor subassembly, second rotor subassembly, stator module, pretightning force and applies subassembly and support. The utility model discloses a torsional spring device carries out exerting of pretightning force between motor stator, rotor, has overcome the difficult problem of coordination of current clamping device centre gripping rigidity and elastic support function. The piezoelectric ceramic plate does longitudinal vibration or bending vibration under the excitation of a single-phase excitation signal with a certain frequency, the longitudinal vibration or the bending vibration is converted into rotation in opposite directions by utilizing friction force, the rotary motion in two directions is realized by one driving device, and the piezoelectric ceramic plate has double output capacity, and has the advantages of simple structure, convenience in driving, easiness in miniaturization and the like.

Description

A biaxial parallel output piezoelectric actuator

technical field

The utility model relates to the field of ultrasonic motors, in particular to a biaxial parallel output piezoelectric actuator.

Background technique

Double-propeller drive is a driving form often used by underwater robots. Compared with single-propeller drive, it is widely used in underwater because of its large output thrust and high drive efficiency, which can autonomously realize the steering function of underwater robots. robot design. However, the dual-propeller-driven underwater robot often faces some problems in the process of miniaturization. Since the driver is usually installed on both sides of the robot body, in the case of one motor drive, two pairs of transmission mechanisms are required to drive the rotation of the left and right propellers respectively, or Using two motors to drive the rotation of the left and right propellers independently, additional transmission mechanism or the use of multiple motors will increase the complexity of the mechanism and the volume of the main body of the underwater robot, further affecting its reliability and safety. its application environment. For centimeter-level miniature underwater robots, the technical solution of two pairs of transmission mechanisms or two motors is not conducive to the miniaturization of the double-propeller-driven underwater robot.

Utility model content

The technical problem to be solved by this utility model is to aim at the defects involved in the background technology, and to provide a dual-shaft parallel output piezoelectric actuator, which can simultaneously output relatively high torque when working in a medium such as water. , the steering is reversed and can be directly used as a power source for micro underwater robots or other devices.

The utility model adopts the following technical solutions for solving the above-mentioned technical problems:

A biaxial parallel output piezoelectric actuator, comprising a first rotor assembly, a second rotor assembly, a stator assembly, a pre-tightening force applying assembly and a bracket;

The bracket includes a base, a first installation plate and a second installation plate, the first installation plate and the second installation plate are vertically arranged on the base, and the first installation plate and the second installation plate are parallel to each other; The first mounting plate and the second mounting plate are provided with a first mounting hole and a second mounting hole; the first mounting plate is provided with a vertical chute, and a sliding block is provided in the chute;

The first rotor assembly and the second rotor assembly both include a rotating shaft, a gear and a driving disc; one end of the rotating shaft is fixedly connected to the rotating shaft of the gear, and the other end is vertically fixed to the center of the driving disc. The plane where the drive disc is located is parallel;

The rotating shaft of the first rotor assembly passes through the first mounting holes of the first mounting plate and the second mounting plate respectively, and is connected with the first mounting plate and the second mounting plate through the bearing; the rotating shaft of the second rotor assembly passes through the first mounting plate and the second mounting plate respectively. Through the second mounting holes of the first mounting plate and the second mounting plate, it is connected with the first mounting plate and the second mounting plate through the bearing; the rotating shaft of the first rotor assembly is parallel to the rotating shaft of the second rotor assembly, and the first the gears of the rotor assembly mesh with the gears of the second rotor assembly;

The stator assembly includes a metal base, a piezoelectric ceramic sheet, a base, a first clamping end and a second clamping end; the first clamping end and the second clamping end are both arranged on the base, It is in the shape of "[", including a vertical vertical side and two parallel horizontal sides, and the openings of the first clamping end and the second clamping end face each other; the metal base is a diamond-shaped sheet, and the two ends are provided with driving feet , the two sides are respectively fixed at the openings of the first clamping end and the second clamping end through interference fit; the piezoelectric ceramic sheet is circular and is arranged at the center of the upper surface of the metal base, and its polarized The direction is from the upper surface to the lower surface, which is used to drive the metal substrate to make longitudinal vibration or bending vibration or coupled vibration of longitudinal vibration and bending vibration under the excitation of the external single-phase excitation signal;

The preloading force applying assembly includes a support, a first torsion spring, a second torsion spring, a fixing piece, a first connecting rod, a second connecting rod and a locking bolt;

The support is a hollow truncated cone with an upper end closed and a lower end open, including a top plate and first to fourth side plates; the first side plate and the slider on the first mounting plate are fixedly connected, so that the support The parts can freely slide up and down along the chute on the first mounting plate; the top plate, the second side plate, and the fourth side plate are vertically fixed to the first side plate; the third side plate and the top plate are The included angle is an obtuse angle; the first side plate is provided with a threaded hole that matches the locking bolt, and the locking bolt is threadedly connected to the threaded hole on the first side plate and passes through the first side The plate is pressed against the first mounting plate; the second mounting plate is provided with a notch for the pre-tightening force applying component to pass through;

The fixing piece is U-shaped; the third side plate is provided with a U-shaped groove matching the fixing piece, the fixing piece is fixed in the groove of the third side board, and the The third side plate is fixed;

Two ends of the fixing member are respectively fixed with one end of the first torsion spring and the second torsion spring; the other ends of the first torsion spring and the second torsion spring are respectively connected with the other ends of the first connecting rod and the second connecting rod. one end fixed;

The base is respectively provided with mounting holes matched with the first connecting rod and the second connecting rod, and the other ends of the first connecting rod and the second connecting rod are fixed to the base through interference fit. so that the driving feet at both ends of the metal base are in contact with the side walls of the driving discs of the first rotor assembly and the second rotor assembly respectively, so that when the metal base vibrates, it drives the driving circles of the first rotor assembly and the second rotor assembly The disc rotates; the pre-tightening force applying assembly is used to adjust the pressure between the driving feet at both ends of the metal base and the side walls of the driving discs of the first rotor assembly and the second rotor assembly.

As a further optimized solution of a biaxial parallel output piezoelectric actuator of the present invention, the driving disc is made of phosphor bronze or stainless steel.

As a further optimized solution of a biaxial parallel output piezoelectric actuator of the present invention, the driving disc is made of carbon fiber, PPS, ceramics or polytetrafluoroethylene.

As a further optimized solution of a biaxial parallel output piezoelectric actuator of the present invention, the thickness of the metal base is 2 mm.

As a further optimized solution of a biaxial parallel output piezoelectric actuator of the present invention, the thickness of the piezoelectric ceramic sheet is 1 mm.

As a further optimization scheme of the biaxial parallel output piezoelectric actuator of the present invention, the upper surfaces of the driving feet at both ends of the metal base are chamfered with an oblique angle, the oblique angle is 45° with the horizontal plane, and the length is 0.5mm .

As a further optimized solution of a biaxial parallel output piezoelectric actuator of the present invention, friction materials are fixed on the surfaces of the driving feet at both ends of the metal base, and the friction materials are made of alumina.

The utility model also discloses a driving method of the biaxial parallel output piezoelectric actuator, which comprises the following steps:

The piezoelectric ceramic sheet is connected to the single-phase excitation signal under the preset frequency threshold. According to the inverse piezoelectric effect, the piezoelectric ceramic sheet generates ultrasonic vibration, and then drives the metal substrate fixed to it to generate longitudinal vibration or bending vibration or longitudinal vibration. , The coupled vibration of bending vibration is transmitted to the driving foot, which is manifested as microscopic up and down vibration, left and right vibration or the coupling of the two vibrations, and then the friction force between the driving foot and the driving disc is used to drive the driving disc to rotate, and Drive the rotating shaft fixedly connected with the driving disc to rotate.

As a further optimized solution of the driving method of the biaxial parallel output piezoelectric actuator, the single-phase excitation signal is any one of sine wave, triangular wave and square wave.

Compared with the prior art, the utility model adopts the above technical scheme, and has the following technical effects:

The utility model adopts the torsion spring device to apply the pre-tightening force between the stator and the rotor of the motor, and overcomes the problem that the clamping rigidity and the elastic support function of the existing clamping device are not easily coordinated. Under the excitation of a single-phase excitation signal of a certain frequency, the piezoelectric ceramic sheet makes longitudinal vibration or bending vibration, and then uses friction to convert the longitudinal vibration or bending vibration into rotation in the opposite direction, and realizes two directions through a driving device. Rotary motion, with dual output capability, and compact structure, can meet the requirements of miniaturization.

Description of drawings

Figure 1 (a), Figure 1 (b) are the three-dimensional structural schematic diagram and front view of the present utility model;

Fig. 2 is the structural schematic diagram of the support, the first rotor assembly and the second rotor assembly in the present invention;

3 is a schematic structural diagram of the cooperation between the pre-tightening force applying assembly and the stator assembly in the present invention;

Fig. 4 is the three-dimensional structure schematic diagram of the metal matrix in the present utility model;

Fig. 5(a) and Fig. 5(b) are schematic diagrams of the working modes of the second-order bending vibration and the first-order longitudinal vibration of the metal matrix in the utility model respectively;

Fig. 6(a) and Fig. 6(b) are schematic diagrams of the principle of the counterclockwise and clockwise rotation of the first rotor assembly in the present invention, respectively;

Figures 7(a) and 7(b) are respectively a schematic diagram of the polarization mode and a schematic diagram of the signal connection of the medium piezoelectric ceramic sheet of the present invention.

Among them, 1- the first mounting plate, 2- the second mounting plate, 3- the base, 4- the first mounting hole on the first mounting plate, 5- the first mounting hole on the second mounting plate, 6- the rotating shaft, 7-drive disc, 8-gear of second rotor assembly, 9-second mounting hole on second mounting plate, 10-fixing washer, 11-fixing piece, 12-third side plate, 13-fourth Side plate, 14-first side plate, 15-top plate, 16-second side plate, 17-second clamping end, 18-base, 19-first clamping end, 20-first connecting rod, 21 -Fixing bolts.

Detailed ways

Below in conjunction with accompanying drawing, the technical scheme of the present utility model is described in further detail:

The present invention may be embodied in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

As shown in Fig. 1(a) and Fig. 1(b), the present utility model discloses a biaxial parallel output piezoelectric actuator, which consists of a first rotor assembly, a second rotor assembly, a stator assembly, a pre-tightening force Applicator assembly and bracket composition. Through the pre-tightening force applying assembly, the stator assembly generates pre-tightening force on the first rotor assembly and the second rotor assembly, so as to provide the friction force required for driving. The piezoelectric ceramic sheet in the stator assembly generates ultrasonic vibration under the excitation of a certain frequency single-phase signal, causing the metal matrix to undergo longitudinal vibration or bending vibration or coupling vibration of longitudinal vibration and bending vibration, and then use friction to drive the rotors at both ends to reverse. to rotate.

As shown in Figure 2, the bracket includes a base, a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are vertically arranged on the base, and the first mounting plate and the second mounting plate are parallel to each other; A mounting plate and a second mounting plate are provided with a first mounting hole and a second mounting hole; the first mounting plate is provided with a vertical chute, and a sliding block is arranged in the chute.

Both the first rotor assembly and the second rotor assembly include a rotating shaft, a gear and a driving disc; one end of the rotating shaft is fixedly connected with the rotating shaft of the gear, and the other end is fixed vertically with the center of the driving disc, and the plane where the gear is located is parallel to the plane where the driving disc is located. ; The material of the driving disc is wear-resistant metal materials such as phosphor bronze and stainless steel or non-metallic materials with low surface friction coefficient such as carbon fiber, PPS, ceramics, PTFE, etc., which can effectively improve the output performance of the motor.

The rotating shaft of the first rotor assembly passes through the first mounting holes of the first mounting plate and the second mounting plate respectively, and is connected with the first mounting plate and the second mounting plate through the bearing; the rotating shaft of the second rotor assembly passes through the first mounting plate respectively. The plate and the second mounting hole of the second mounting plate are connected to the first mounting plate and the second mounting plate through bearings; the rotating shaft of the first rotor assembly is parallel to the rotating shaft of the second rotor assembly, and the gear of the first rotor assembly is connected to the second mounting plate. The gears of the two rotor assemblies are meshed, as shown in Figure 2.

The stator assembly includes a metal base, a piezoelectric ceramic sheet, a base, a first clamping end and a second clamping end; the first clamping end and the second clamping end are both arranged on the base, in the shape of "[" The type includes a vertical vertical side and two parallel horizontal sides, and the openings of the first clamping end and the second clamping end face each other. The metal base is a diamond-shaped sheet with a thickness of 2mm, and the two ends are provided with driving feet; the upper surface of the driving feet is beveled, the bevel is 45° with the horizontal plane, and the length is 0.5mm, as shown in Figure 4, which is conducive to increasing the fixed , The contact area between the rotors, improve the friction between the stator and the rotor and the output torque of the rotor, and improve the output performance of the motor. In addition, in order to slow down the wear of the metal base driving foot and the driving disc, prevent the rotor from being stuck due to dust falling on the contact surface of the stator and the rotor, improve the stability of the rotor rotation, and enhance the output effect of the motor, the surface of the driving foot at both ends is Fixed with friction material such as aluminium oxide. Piezoelectric ceramic sheet is circular, with a thickness of 1mm, and is pasted at the center of the upper surface of the metal substrate through epoxy resin glue. Under the excitation of the signal, the metal base is driven to perform longitudinal vibration or bending vibration or coupling vibration of longitudinal vibration and bending vibration, and then the rotors at both ends are driven to rotate in reverse by friction; both sides of the metal base are respectively fixed on the first clamp by interference fit. At the openings of the holding end and the second clamping end, the influence of the clamping mechanism on the vibration mode of the stator assembly is minimized.

As shown in FIG. 3 , the preloading force application assembly includes a support, a first torsion spring, a second torsion spring, a fixing piece, a first connecting rod, a second connecting rod and a locking bolt; the support is closed at the upper end and open at the lower end. A hollow truncated cone, including a top plate and first to fourth side plates; the first side plate and the slider on the first mounting plate are fixedly connected, so that the support can freely slide up and down along the chute on the first mounting plate; the top plate , the second side plate and the fourth side plate are vertically connected with the first side plate; the angle between the third side plate and the top plate is an obtuse angle; the first side plate is provided with threaded holes that match the locking bolts , the locking bolt is threadedly connected to the threaded hole on the first side plate, and passes through the first side plate against the first installation plate; the second installation plate is provided with a gap for the pre-tightening force application component to pass through; The part is U-shaped; the third side plate is provided with a U-shaped groove matching the fixing part, and the fixing part is fixed in the groove of the third side plate and is fixedly connected with the third side plate; There are threaded holes on the three side plates, which are fixed with fixing bolts. At the same time, fixing gaskets are arranged under the fixing bolts. The ends are respectively fixed with one end of the first torsion spring and the second torsion spring; the other ends of the first torsion spring and the second torsion spring are respectively fixed with the other ends of the first connecting rod and the second connecting rod; There are mounting holes matched with the first connecting rod and the second connecting rod. The side walls of the driving discs of the first rotor assembly and the second rotor assembly are abutted, so that when the metal base vibrates, the driving discs of the first rotor assembly and the second rotor assembly are driven to rotate, thereby driving the rotating shaft to rotate. The pre-tightening force applying assembly is used to adjust the pressure between the driving feet at both ends of the metal base and the side walls of the driving discs of the first rotor assembly and the second rotor assembly.

As shown in FIG. 3 , α is the angle between the plane where the fixing piece is located and the first connecting rod, which is about 57°. In order to increase the frictional force, it is necessary to ensure that the driving foot and the outer surface of the driving disc are in line contact or surface contact, so as to ensure that the metal substrate is always kept horizontal during the operation of the actuator, that is, the substrate must always be kept horizontal, and then the first , The second connecting rod needs to be kept horizontal at all times. On this premise, the pressure between the driving feet at both ends of the metal base and the side walls of the driving discs of the first rotor assembly and the second rotor assembly can be adjusted by changing α. The addition of the angle θ between the third side plate and the horizontal plane and the angle β between the third side plate and the top plate is equal to 180°. As shown in Figure 3, it is easy to know that in order to achieve the purpose of applying preload, θ <α=57°, θ can take 55°, 53°, 50°, 47°, 45°, etc., that is, β takes 125°, 127°, 130°, 133°, 135° and other angles.

The stator assembly, the rotor assembly and the pretightening force applying assembly are symmetrical with respect to the geometric center of the stator assembly, which is beneficial to the uniform distribution and consistency of the pretightening force between the stator and the rotor at both ends.

Through the meshing action between the gears fixed on the two rotating shafts and the friction force between the stator and the rotor, the unstable phenomenon of the stator assembly tilting up and down around its own geometric center caused by the elasticity of the torsion spring device is prevented In addition, the gears also limit the steering between the two rotors of the actuator to the opposite direction, which ensures the same rotation speed of the rotating shafts at both ends. The consistency of the thrust prevents the occurrence of the phenomenon of the micro underwater robot turning circles in situ.

FIG. 5( a ) and FIG. 5( b ) are respectively schematic diagrams of the working modes of the second-order bending vibration and the first-order longitudinal vibration of the metal matrix in the utility model.

The piezoelectric ceramic sheets are all polarized along the thickness direction, and the polarization direction points to the metal substrate when pasting, as shown in Figure 7(a). The outer lead of area 2 of the piezoelectric ceramic sheet is connected to a single-phase excitation signal, and area 1 is connected to the metal substrate and grounded, as shown in Figure 7(b), where the single-phase excitation signal is any one of sine wave, triangle wave, and square wave. Here, the sinusoidal signal sinωt is used as an example to illustrate. When a sinusoidal signal of an appropriate frequency is applied to the piezoelectric ceramic sheet, according to the inverse piezoelectric effect, the piezoelectric ceramic sheet will generate ultrasonic vibration, which in turn can excite the second-order bending vibration of the metal matrix. Mode, as shown in Fig. 5(a), when the energy is transmitted to the driving feet, it will cause the particles on the driving feet at both ends to vibrate up and down microscopically. The outer surfaces of the driving discs are in contact with each other, so that the two ends of the driving discs can be driven to rotate through friction, and the rotating shaft fixedly connected with the driving discs can be driven to rotate. Due to the central symmetry of the structural design and the meshing effect of the gear components, the macroscopic performance is that the rotation directions of the two rotors are opposite, that is, the left rotor rotates counterclockwise, and the right rotor rotates clockwise, as shown in Figure 6(a). Further changing the output frequency of the sinusoidal signal can excite the first-order longitudinal vibration mode of the metal matrix, as shown in Figure 5(b), causing the particles on the driving feet at both ends to vibrate left and right on a microscopic level, and drive the rotating shafts at both ends through friction. Perform reverse rotation, that is, the left rotor rotates clockwise, and the right rotor rotates counterclockwise, as shown in Figure 6(b). In addition, it was also found in the study that when the gear assembly is removed and the output frequency of the sinusoidal signal is changed, the longitudinal-bending coupling vibration of the metal matrix can be excited, and the rotors at both ends can be driven to rotate clockwise or counterclockwise at the same time.

The utility model also discloses a driving method of the biaxial parallel output piezoelectric actuator, which comprises the following steps:

The piezoelectric ceramic sheet is connected to the single-phase excitation signal under the preset frequency threshold. According to the inverse piezoelectric effect, the piezoelectric ceramic sheet generates ultrasonic vibration, and then drives the metal substrate fixed to it to generate longitudinal vibration or bending vibration or longitudinal vibration. , The coupled vibration of bending vibration is transmitted to the driving foot, which is manifested as microscopic up and down vibration, left and right vibration or the coupling of the two vibrations, and then the friction force between the driving foot and the driving disc is used to drive the driving disc to rotate, and Drive the rotating shaft fixedly connected with the driving disc to rotate.

The single-phase excitation signal is any one of sine wave, triangle wave, and square wave.

The piezoelectric ceramic sheet in the stator assembly of the medium piezoelectric actuator of the utility model generates ultrasonic vibration under the excitation of a certain frequency electric signal, which causes the metal matrix to undergo longitudinal vibration or bending vibration or coupling vibration of longitudinal vibration and bending vibration, and then utilizes The friction force drives the rotors at both ends to rotate in opposite directions, and can be used in conjunction with the positive and negative propellers to provide power for mechanisms such as miniature underwater robots; the utility model realizes two-direction rotational motion through one driving device, and has dual output capabilities. And the structure is compact, which can meet the requirements of miniaturization; the piezoelectric ceramic sheet in the stator assembly of the utility model is in the form of a patch, which is easier to replace when the ceramic sheet is damaged compared with the sandwich structure; the utility model uses the torsion spring for the first time. The device eliminates the need for pre-tightening bolts and other structures, overcomes the problem that the clamping rigidity and elastic support function of the existing clamping device are not easy to coordinate, and is easy to assemble and easy to miniaturize; the piezoelectric actuator structure in the utility model has the advantages of Very good symmetry, the symmetry in the structural control characteristics and impedance characteristics is beneficial to the controller design of the actuator, such as the use of positive and negative propellers to provide power for micro rotorcraft, micro underwater robots, etc.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention In the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims (7)

1. A biaxial parallel output piezoelectric actuator, characterized in that it comprises a first rotor assembly, a second rotor assembly, a stator assembly, a pre-tightening force applying assembly and a bracket; The bracket includes a base, a first installation plate and a second installation plate, the first installation plate and the second installation plate are vertically arranged on the base, and the first installation plate and the second installation plate are parallel to each other; The first mounting plate and the second mounting plate are provided with a first mounting hole and a second mounting hole; the first mounting plate is provided with a vertical chute, and a sliding block is provided in the chute; The first rotor assembly and the second rotor assembly both include a rotating shaft, a gear and a driving disc; one end of the rotating shaft is fixedly connected to the rotating shaft of the gear, and the other end is vertically fixed to the center of the driving disc. The plane where the drive disc is located is parallel; The rotating shaft of the first rotor assembly passes through the first mounting holes of the first mounting plate and the second mounting plate respectively, and is connected with the first mounting plate and the second mounting plate through the bearing; the rotating shaft of the second rotor assembly passes through the first mounting plate and the second mounting plate respectively. Through the second mounting holes of the first mounting plate and the second mounting plate, it is connected with the first mounting plate and the second mounting plate through the bearing; the rotating shaft of the first rotor assembly is parallel to the rotating shaft of the second rotor assembly, and the first the gears of the rotor assembly mesh with the gears of the second rotor assembly; The stator assembly includes a metal base, a piezoelectric ceramic sheet, a base, a first clamping end and a second clamping end; the first clamping end and the second clamping end are both arranged on the base, It is in the shape of "[", including a vertical vertical side and two parallel horizontal sides, and the openings of the first clamping end and the second clamping end face each other; the metal base is a diamond-shaped sheet, and the two ends are provided with driving feet , the two sides are respectively fixed at the openings of the first clamping end and the second clamping end through interference fit; the piezoelectric ceramic sheet is circular and is arranged at the center of the upper surface of the metal base, and its polarized The direction is from the upper surface to the lower surface, which is used to drive the metal substrate to make longitudinal vibration or bending vibration or coupled vibration of longitudinal vibration and bending vibration under the excitation of the external single-phase excitation signal; The preloading force applying assembly includes a support, a first torsion spring, a second torsion spring, a fixing piece, a first connecting rod, a second connecting rod and a locking bolt; The support is a hollow truncated cone with an upper end closed and a lower end open, including a top plate and first to fourth side plates; the first side plate and the slider on the first mounting plate are fixedly connected, so that the support The parts can freely slide up and down along the chute on the first mounting plate; the top plate, the second side plate, and the fourth side plate are vertically fixed to the first side plate; the third side plate and the top plate are The included angle is an obtuse angle; the first side plate is provided with a threaded hole that matches the locking bolt, and the locking bolt is threadedly connected to the threaded hole on the first side plate and passes through the first side The plate is pressed against the first mounting plate; the second mounting plate is provided with a notch for the pre-tightening force applying component to pass through; The fixing piece is U-shaped; the third side plate is provided with a U-shaped groove matching the fixing piece, the fixing piece is fixed in the groove of the third side board, and the The third side plate is fixed; Two ends of the fixing member are respectively fixed with one end of the first torsion spring and the second torsion spring; the other ends of the first torsion spring and the second torsion spring are respectively connected with the other ends of the first connecting rod and the second connecting rod. one end fixed; The base is respectively provided with mounting holes matched with the first connecting rod and the second connecting rod, and the other ends of the first connecting rod and the second connecting rod are fixed to the base through interference fit. so that the driving feet at both ends of the metal base are in contact with the side walls of the driving discs of the first rotor assembly and the second rotor assembly respectively, so that when the metal base vibrates, it drives the driving circles of the first rotor assembly and the second rotor assembly The disc rotates; the pre-tightening force applying assembly is used to adjust the pressure between the driving feet at both ends of the metal base and the side walls of the driving discs of the first rotor assembly and the second rotor assembly. 2 . The biaxial parallel output piezoelectric actuator according to claim 1 , wherein the driving disc is made of phosphor bronze or stainless steel. 3 . 3 . The biaxial parallel output piezoelectric actuator according to claim 1 , wherein the driving disc is made of carbon fiber, PPS, ceramics or polytetrafluoroethylene. 4 . 4 . The biaxial parallel output piezoelectric actuator according to claim 1 , wherein the thickness of the metal base is 2 mm. 5 . 5 . The biaxial parallel output piezoelectric actuator according to claim 1 , wherein the piezoelectric ceramic sheet has a thickness of 1 mm. 6 . 6 . The biaxial parallel output piezoelectric actuator according to claim 1 , wherein the upper surfaces of the driving feet at both ends of the metal base are chamfered with an oblique angle, and the oblique angle is 45° from the horizontal plane, and the length is 45°. 7 . is 0.5mm. 7 . The biaxial parallel output piezoelectric actuator according to claim 1 , wherein a friction material is fixed on the surfaces of the driving feet at both ends of the metal base, and the friction material is aluminum oxide. 8 .

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