JPS59230473A - Drive device - Google Patents

Abstract

PURPOSE:To transmit a drive force in a high efficiency by producing a distortion of longitudinal or lateral effect and a distortion of shearing effect in a piezoelectric element, and composing a moving unit having a circulating locus. CONSTITUTION:When a sinusoidal voltage is applied to electrodes 4A, 4B of a piezoelectric unit 2 by a power source 6, a piezoelectric unit 2 generates a vibration mode of the same direction as polarizing direction A. When the sinusoidal voltage is applied by a power source 7 to electrodes 5A, 5B of a piezoelectric unit 3, the unit 3 uses the vibration mode perpendicular to the polarizing direction A. Accordingly, when sinusoidal voltages having phase difference of 90 deg. in equal frequency from the power sources 6, 7 are respectively applied to the electrodes 4A, 4B and 5A, 5B, a wear resistant member 10 which becomes the moving unit side of the unit 3 produces an elliptical circulating locus motion by the combination of the longitudinal effect of the unit 2 and the shearing effect of the unit 3. The member 10 moves the unit 1 in contact with the unit 1 at the top of the elliptical motion.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a drive device that provides drive to a driven object, and more particularly relates to a drive device that provides driving force to a driven object using a piezoelectric material exhibiting a piezoelectric effect. It's something.

[Background of the invention]

Drive devices that apply a driving force to a driven body can generally be broadly classified into those that use electrical input and those that use fluid input. A typical example of the former driving device is a motor, and typical examples of the latter driving device include a hydraulic pump motor, a hydraulic cylinder, and the like. On the other hand, in recent years, with the development of piezoelectric elements, various drive devices using piezoelectric elements have been proposed. This piezoelectric element exhibits a so-called piezoelectric effect, a phenomenon that causes distortion when a voltage is applied, and has been known for a long time. Examples of drive devices using this piezoelectric element include those described in Japanese Patent Laid-Open No. 53-82286 and Japanese Patent Laid-Open No. 57-78378. These drive devices have a structure in which piezoelectric bodies having a type of strain form are combined in orthogonal directions in order to apply a driving force to a driven object through contact. Furthermore, the structure includes a flexible mechanism that synthesizes the strain forms of the piezoelectric bodies assembled in the orthogonal directions so as to generate two-dimensional motion.

This type of drive device is smaller and lighter than a conventional motor that obtains rotational torque from electromagnetic force, so it can be used as a drive source for various precision machines, robots, office automation equipment, and the like.

However, this type of drive device has the above-mentioned small size.

There is a need to be able to transmit driving force with higher efficiency while maintaining light weight, but due to the soft groove structure mentioned above,
The current situation is that driving force cannot be transmitted with high efficiency.

[Purpose of the invention]

The present invention has been made based on the above-mentioned matters, and an object of the present invention is to provide a drive device that can transmit driving force with high efficiency.

[Summary of the invention]

In order to achieve the above object, the present invention provides a device for driving a driven object, in which either a piezoelectric material exhibiting a longitudinal effect strain or a piezoelectric material exhibiting a transverse effect strain, and a piezoelectric material exhibiting a shear effect strain. A piezoelectric body that exhibits the following characteristics is integrally coupled, and the piezoelectric body coupled to this integral part is subjected to longitudinal effect strain, transverse effect strain, and shear effect strain caused by voltage application to the pair of electrodes of each piezoelectric body. A moving section having a circular movement locus is formed by combining the moving section with the moving section, and this moving section is used as a driving force transmitting section for the driven body.

[Embodiments of the invention] Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show an embodiment of the driving device of the present invention, and in the figures, 1 indicates a driven body driven by the device of the present invention. In this example, the drive device of the invention has two
The piezoelectric body 2 and 3 are stacked and provided. This piezoelectric body 2
, 3 is, for example, lead zirconate titanate (Pb (Zr,
Ti)Os] (tri-nickel PZT).

The piezoelectric body 2 is polarized as shown by arrow A in its thickness direction. Further, the piezoelectric body 3 is polarized as shown by an arrow A so as to be orthogonal to the direction of polarization A of the piezoelectric body 2. This polarization treatment may be performed on each piezoelectric body 2.3 in advance, or the piezoelectric bodies 2, 3 may be assembled later. The piezoelectric body 2 is provided with a pair of electrodes 4A and 4B on opposing surfaces perpendicular to its polarization A. Further, the piezoelectric body 3 is provided with a pair of electrodes 5-A and 5B on opposing surfaces parallel to the polarization A thereof. The pair of electrodes 4A and 4B are connected to a power source 6, and the pair of electrodes 5A and 5B are connected to a power source 7. The aforementioned electrode 4A
, 4B, 5A.

For example, an electrode plate, a vapor-deposited electrode, or the like is used for 5B. An insulator 8 is provided between the electrode 5B of the piezoelectric body 3 and the electrode 4A of the piezoelectric body 2. The piezoelectric body 2 in the laminated piezoelectric bodies 2 and 3 is connected to a fixed plate 9 via an electrode 4B.
Fixed. The fixing plate 9 is made of an electrically insulating material such as alumina ceramics. Since the electrode 58 portion of the piezoelectric body 3 becomes a moving portion that contacts the driven body 1 and applies a driving force to the driven body 1, a wear-resistant member 10 is provided to prevent wear of this portion. Attachment of this member 10 is not essential. This wear-resistant member 10 is preferably made of an electrically insulating material such as alumina ceramics. When the wear-resistant member 10 and the fixing plate 9 are made of conductive materials, electricity can be applied between the wear-resistant member 10 and the electrode 5A and between the fixing plate 9 and the electrode 4B by, for example, applying an insulating paint. It is recommended to perform insulation treatment. The power supplies 6 and 7 described above can generate arbitrary waveforms of arbitrary frequencies, such as sine waves, rectangular waves, triangular waves, and 9 trapezoidal waves.

Next, the operation of one embodiment of the above-described apparatus of the present invention will be described.

Now, a sinusoidal voltage is applied to the electrode 4 of the piezoelectric body 2 by the power source 6.
When applied to A and 4B, the piezoelectric body 2 generates a vibration mode in the same direction as its polarization A (so-called longitudinal effect of piezoelectric strain), as shown by the two-dot chain line in FIG. Further, when a sinusoidal voltage is applied to the electrodes 5A and 5B of the piezoelectric body 3 by the power supply 7, the piezoelectric body 3 will move in the direction perpendicular to its polarization A (the so-called shear effect of piezoelectric strain), as shown by the two-dot chain line in FIG. ) gives rise to vibrational modes. For this reason, the power supplies 6 and 7 apply a sinusoidal voltage with equal frequency and a phase difference of 90 degrees to the electrodes 4A and 7, respectively.
When a voltage is applied to B and electrodes 5A and 5B, the wear-resistant member 1o on the moving part side of the piezoelectric body 3 has the effect shown in FIGS. 1 and 2 due to the combination of the longitudinal effect of the piezoelectric body 2 and the shear effect of the piezoelectric body 3. As shown in , an elliptical circular locus motion shown by arrow B is generated in the plane of the X and Z axes of the direct firing coordinate system. And wear-resistant member 1o
It contacts the driven body 1 at the top of the elliptical motion and moves the driven body 1. Thereby, the driven body 1 is driven in the direction C parallel to the X-rays. At this time, if the driven body 1 is supported so that it can move linearly, it will move linearly, and if it is supported so that it can rotate, it will move rotationally.

For reference, the amount of displacement in the X-axis direction and the amount of displacement in the Z-axis direction in the moving portion of the piezoelectric body 3 described above is as follows. 'The piezoelectric body 3 has a length of 1 mm in the Z-axis direction, 2 mm in the X-axis direction, and 10 mm in the Ytdt direction, and the piezoelectric body 2 has a length of 2 mm in the 2-axis direction, 2 mm in the X-axis direction, and 10 mm in the Y-axis direction. The piezoelectric constant of the longitudinal effect is 600X10
”(m/v), the piezoelectric constant of the shear effect, is 900X
IO-” (m/V) and electrode 4A.

When an IKV sine voltage with a 90 degree phase difference and a frequency of 10KH2 is applied to 4B and electrodes 5A and 5B, the maximum displacement in the X-axis direction of the moving part of the piezoelectric body 3 is = 0.9 (μm).・・・・・・・・・
...(1). Also, the maximum displacement in the Z-axis direction is -〇, 6 (μm)...
......(2). Furthermore, the maximum feed speed in the X-axis direction Vehay! =0. g(μm)XIO'(1/
S)=9 (expansion n/S・)...
......(3).

Note that in the above-mentioned embodiment, the driven body 1 is shown as X in FIG.
Although the case of moving in the direction of arrow C along the axial direction is shown,
If the phase of the voltage from the power supply 6.7 is reversed and a 90 degree phase difference is given, the wear-resistant member 1 becomes the moving part of the piezoelectric body 3.
0 can be moved with a harpoon along an elliptical locus in the opposite direction to arrow B shown in FIG. As a result, while the driven body 1 moves in the opposite direction to that described above, the wear-resistant member 10t provided on the moving part of the piezoelectric body 3 is moved in an elliptical trajectory, but the electric current @i
By outputting sinusoidal voltages of equal phase and different frequencies from 6.7, the wear-resistant member 10 can be moved with a Lissajous waveform orbit as shown in FIG. In this case, the driven body 1 repeatedly moves from right to left in the drawing. Further, when rectangular wave voltages of equal frequency are outputted from the power sources 6 and 7 with a phase difference of 90 degrees, the wear-resistant member 10 moves along a rectangular orbit as shown in FIG. Furthermore, a triangular wave voltage of equal frequency is applied from the power supply 6.7 to 9
When the output is performed with a phase difference of 0 degrees, the wear-resistant member 10 moves with a rhombic orbit as shown in FIG. In addition, when a trapezoidal wave voltage with an equal frequency and a 90 degree phase difference is output from the power source 6.7, as shown in Fig. 8, the wear-resistant member 1
0 moves with a hexagonal orbit. In this manner, by changing the waveform phase and frequency of the voltage output from the power source 6.7, the moving portion of the wear-resistant member 10 that is to contact drive the driven body 1 can be arbitrarily selected.

According to the embodiment of the present invention described above, the wear-resistant member 10 can be moved along a circular trajectory by the laminated combination of two types of piezoelectric bodies. The actuator can be provided with a configuration.

Still, since the two types of piezoelectric bodies are joined without intervening a low-rigidity intermediate between them, the strain deformation can be efficiently transmitted to the driven body as a driving force.

FIG. 9 shows another embodiment of the drive device of the present invention,
In this figure, the same reference numerals as in FIGS. 1 and 2 indicate the same parts. In comparison with the embodiment shown in FIG. 1, this embodiment is arranged so that the direction of polarization A of the piezoelectric body 2 is parallel to the X-axis direction. Since the configuration other than this is the same as that of the embodiment shown in FIG. 1, detailed explanation of the configuration will be omitted.

Next, the operation of another embodiment of the apparatus of the present invention described above will be explained.

When an alternating voltage is applied to the electrodes 4A and 4B of the piezoelectric body 2 by the power source 6, the piezoelectric body 2 changes its polarization direction due to the transverse effect, which is a type of strain form of the piezoelectric body 2, as shown by the two-dot chain line in FIG. Shrinks and deforms in the direction perpendicular to Further, when an alternating voltage is applied to the electrodes 5A and 5B of the piezoelectric body 3 by the power source 7, the piezoelectric body 3 is deformed in a direction parallel to its polarization direction due to a shearing effect, as shown by the two-dot chain line in FIG.

Therefore, six pairs of electrodes 4A are generated by the power sources 6 and 7.

By simultaneously applying voltages having arbitrary voltage differences, two frequency differences, and a phase difference to 4B, 5A, and 5B, the first
Similarly to the embodiment shown in the figure, the wear-resistant member 10 can be moved with any circular trajectory.

In this example, under the same conditions as the example shown in FIG.
-0.25μm in the axial direction, i.e. 0.25μm in the shrinkage direction
When it is displaced by 0.6 μm in the X-axis direction, the maximum feed speed in the X-axis direction becomes 9 mm/s.

FIGS. 12 and 13 show still another embodiment of the apparatus of the present invention, in which the same reference numerals as those in FIGS. 1 and 2 represent the same parts. In these embodiments, a plurality of piezoelectric bodies 2 exhibiting a longitudinal effect and a plurality of piezoelectric bodies 3 producing a shearing effect are laminated in biaxial directions as shown in FIG. 1. The embodiment shown in FIG. 12 is a case where the polarization directions of the adjacent piezoelectric bodies 2 and 3 are the same. In this case, two electrodes 4A, 4B and 5A, 5I3 of different polarity are provided between adjacent piezoelectric bodies 2, 3.
Therefore, an electrical insulator 11 is provided between these electrodes. In the embodiment shown in FIG. 13, the polarization directions of the adjacent piezoelectric bodies 2 and 3 are opposite to each other. In this case, since the polarization directions of the adjacent piezoelectric bodies 2 and 3 are opposite, there is no need to provide the electric insulator 11, and the electric bodies in adjacent parts of the piezoelectric bodies 2 and 3 are connected to a common electrode. It can be 12.

This allows the number of wires to be connected to the electrodes to be reduced compared to the embodiment shown in FIG.

According to still another embodiment of the device of the present invention shown in FIGS. 12 and 13 described above, the longitudinal effect of the plurality of stacked piezoelectric bodies 2 and the shear effect of the plurality of stacked piezoelectric bodies 2 are combined. By combining, the wear-resistant member 10 that becomes the moving part becomes X,
It moves with a circular movement locus within the Z-axis plane. This circular movement of the wear-resistant member 1.0 allows the driven body 1 to be moved in the X-axis direction. In this way, piezoelectric bodies 2, 3
By stacking a large number of layers, a large amount of displacement can be applied to the moving part with a small voltage. Furthermore, since the voltage application direction of the piezoelectric body 2 exhibiting a shearing effect is perpendicular to the direction of polarization A, deterioration of its polarization can be minimized by applying a high voltage.

FIGS. 14 to 17 show other embodiments of the drive device of the present invention, and in these figures, the same reference numerals as in FIGS. 1 and 9 indicate the same parts. These embodiments are constructed by laminating a plurality of piezoelectric bodies 2 that produce a transverse effect and a plurality of piezoelectric bodies 3 that produce a shear effect as shown in FIG. In the embodiment shown in FIG. 14, a plurality of piezoelectric bodies 2 and a plurality of piezoelectric bodies 3 are laminated in the Z-axis direction so that their respective polarization A directions are the same. In this case, since it is necessary to provide two electrodes of different polarity between each of the adjacent piezoelectric bodies 2 and 3, an electrical insulator 11 is provided between these electrodes. In the embodiment shown in FIG. 15, the polarization directions of the adjacent piezoelectric bodies 2 and 3 are reversed. In this case, the polarization directions of the piezoelectric bodies 2 and 3 that are in instantaneous contact must be reversed, and the electric insulators must be
There is no need to provide a common electrode 12 between adjacent piezoelectric bodies 2.3. Thereby, the number of wirings to the electrodes can be reduced compared to the embodiment shown in FIG. 14.

According to the embodiment shown in FIGS. 14 and 15, a large amount of displacement can be obtained with a small voltage by laminating a large number of piezoelectric bodies 2 and 3. The embodiment shown in FIG. 16 and the embodiment shown in FIG. 17 are those in which a plurality of piezoelectric bodies 2 exhibiting the transverse effect shown in FIG.
In the embodiment shown in FIG. 6, the polarization A direction of each pressurized body 2 is made to be in the same direction. In the embodiment shown in FIG. 17, the polarization directions of the adjacent piezoelectric bodies 20 are reversed. In this case, similar to the embodiment shown in FIG. 15, the electrodes of adjacent portions of each piezoelectric body 2 can be made into a common electrode 12. In the embodiments shown in FIGS. 16 and 17, the voltage applied to each of the plurality of piezoelectric bodies 2 exhibiting a transverse effect is made smaller than that applied to the single piezoelectric body shown in FIG. be able to. That is, assuming that the dimension of the piezoelectric body 2 in the Z-axis direction in the example shown in FIG. 9 is Ax, the dimension in the X-axis direction is 72+applied voltage Vo, and the piezoelectric constant indicating the transverse effect is d, as shown in FIG. The displacement of the piezoelectric body 2 in the Z-axis direction is expressed by the following equation (4).

Here, reduce the applied voltage Vo and measure the displacement.

In order to increase , the dimension t2 of the piezoelectric body 2 in the X-axis direction must be decreased and the dimension t1 of the piezoelectric body 2 in the Z-axis direction must be increased in the above equation (4). However, the dimension t in the X-axis direction
2 cannot have its dimension t2 reduced in order to prevent a decrease in rigidity due to coupling with the piezoelectric body 3 connected thereto. However, if n piezoelectric bodies 2 are stacked in the X-axis direction, -
The displacement amount Dt6 in the Z-axis direction of 1 is expressed by the following equation (5).

As is clear from this equation (5), in order to make the displacement amount in equation (4) and the displacement amount o in equation (5) equal,
4) Applied voltage V in formula. An applied voltage of 1/11 of that is sufficient. That is, in the embodiments shown in FIGS. 16 and 17, the voltage applied to each piezoelectric body 2 that exhibits a transverse effect can be made smaller compared to the single piezoelectric body 2 in the embodiment shown in FIG. .

FIGS. 18 to 23 show still other embodiments of the drive device of the present invention, and each of these embodiments is shown in FIGS. 12 to 1.
In addition to the embodiment shown in FIG. 7, a plurality of three piezoelectric bodies that exhibit another type of shearing effect are added. These piezoelectric bodies 3A are stacked on the piezoelectric body 3 so that the direction of polarization is perpendicular to the direction &A of the piezoelectric body 3. Electrodes 5A, 5B of these piezoelectric bodies 3A and a common electrode 12 are connected to a power source 7A. Due to this voltage application from the power source 7A, the piezoelectric body 3A undergoes strain deformation due to a shearing effect within the Y and Z axis planes.

In the embodiment shown in FIGS. 18 and 19, the strain of the longitudinal effect of the piezoelectric body 2 and the strain of the valley shear effect of the piezoelectric body 3 and the piezoelectric body 3A are combined, and the wear-resistant member 10 serving as a moving part thereof is Draw a three-dimensional circular movement trajectory. That is, the wear-resistant member 1o moves at a position displaced by a certain angle θ around the Z-axis from the orbital locus within the X- and Z-axis planes. Thereby, the wear-resistant member IO can move the driven body 1 in a direction having an angle θ with respect to the X-axis.

The embodiment shown in FIGS. 20 to 23 is based on the combination of the transverse effect strain of the piezoelectric body 2 and the shear effect strain of the piezoelectric body 3 and the piezoelectric body 3A. Similarly, the 11rJ' shoreline member 10 which becomes the moving part is 3
It is possible to draw a dimensional circular movement locus and move the driven body 1 in a direction having an angle θ with respect to the X axis.

Next, a practical example of the driving device of the present invention will be explained below using FIGS. 24 to 27.

An application example of the driving device T of the present invention shown in FIG. 24 is one in which a driven body 1 is moved in a straight line or in a plane. That is, a driven body 1 is supported on a base 13 by a bearing 14 so as to be movable in a straight line or in a plane, and a plurality of drive devices T of the present invention are arranged in parallel at a portion facing the driven body 1. , an alternating voltage is applied to these drive devices T of the present invention to cause the side portions of the driven body to alternately move around in a two-dimensional or three-dimensional movement locus. Due to this circular motion, the driving device T repeatedly approaches and separates from the surface of the driven body 1. As a result, the driven body 1 moves in a straight line or in one direction within the plane and at an angle with respect to one direction within the plane. Further, as shown in FIG. 25, it is also possible to rotationally drive the rotary table 15 by the drive device T of the present invention.

A commonly used example of the drive device T of the present invention shown in FIG. 26 is one in which a driven body is rotated.

That is, a shaft 18 serving as a driven body is rotatably supported within the casing 16 by a bearing 17, and a plurality of drive devices T of the present invention are provided in the circumferential direction on the inner surface of the casing 16 facing the outer periphery of the shaft 18. By applying an alternating voltage to the drive device T of the present invention, the drive device 1' of the present invention repeatedly approaches and separates from the outer circumference of the shaft 18 by circular movement of the portion facing the outer circumference of the shaft. This causes the shaft 18 to rotate.

The application example shown in FIG. 27 rotates the driven body in the same way as the general example shown in FIG. The driving device Tt of the present invention is installed. With this configuration, the shaft 18 can be rotated through the rotation of the disc body 19, similar to the above application example.

Note that the application examples shown in FIGS. 26 and 27 have been described with reference to the case where the shaft 18 is rotated, but if the shaft 18 is fixed and the casing 16 is rotatably supported, the casing 16 can be rotated around the shaft 18. It can be rotated.

As described above, the drive device of the present invention can provide an actuator capable of linearly and rotatably moving a driven body.

Furthermore, in each of the above-described embodiments, the rotating moving part of the piezoelectric body is brought into contact with the driven body to drive the driven body, so that the driving force can be transmitted to the driven body with higher rigidity than in the past. As a result, the efficiency is good and the reliability of driving force transmission is high. Furthermore, in order to improve the transmission of driving force, it is preferable to use a rubber body to prevent slippage between the moving part of the drive device of the present invention and the driven body, or to use measures such as forming a rough surface to reduce the coefficient of friction. . Further, in the present invention, in addition to the contact drive between the moving part of the drive device and the driven body as described above, non-contact drive by repulsion or attraction using magnetic force is also possible. Further, in each of the above-described embodiments, the piezoelectric bodies 2, 3, and 3A have a rectangular parallelepiped shape, but are not limited to this shape. Still piezoelectric body 2, 3, 3
The number of A's and the combination thereof are not limited to the above-mentioned embodiments, and can be arbitrarily selected.

It is still possible to arrange a plurality of each embodiment in parallel.

〔Effect of the invention〕

As described in detail above, according to the present invention, driving force can be efficiently transmitted to the driven body.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a front view showing one embodiment of the drive device of the present invention, FIG. 2 is a perspective view thereof, and FIGS. 3 and 4 are each part of the drive device of the present invention. Front view explaining the operation of the piezoelectric body, No. 5
8 are diagrams showing other examples of the circular movement locus of the moving part in the drive device of the present invention shown in FIG. 1, FIG. 9 is a perspective view showing another embodiment of the drive device of the present invention, 10 and 11 are front views illustrating the operation of each piezoelectric body constituting another embodiment of the drive device of the present invention shown in FIG. 9, and FIGS. 12 to 23 are front views of the drive device of the present invention. FIGS. 24 to 27 are front views showing the configuration of still other embodiments of the present invention, and FIGS. 24 to 27 are diagrams showing application examples of the drive device of the present invention. 1... Driven body, 2, 3, 3A... Piezoelectric body, 4A,
・4B, 5A, 5B...electrode, 6,7...power supply, 8
...Insulator, 9...Fixing plate, 10...Abrasion resistant member, 11...Electrical 'f3S Figure No. B Figure Piece 7 Figure ¥J B
Diagram 1θ Diagram 21 Diagram 1t Diagram rl''7 Diagram 1:1? Diagram

Claims (1)

[Claims] 1. In a driving device for driving a driven object, a piezoelectric material exhibiting longitudinal effect strain or a piezoelectric material exhibiting transverse effect strain, and a piezoelectric material exhibiting shear effect strain. A combination of longitudinal effect strain or transverse effect strain and shear effect strain caused by voltage application to the pair of electrodes of each piezoelectric body, which is integrally connected to the piezoelectric body and connected to this integral part. A driving device characterized in that a moving part having a circumferential locus is configured, and this moving part is used as a driving force transmitting part to a driven body. 2. The drive device according to claim 1, characterized in that the piezoelectric body coupled to the integral part is composed of a piezoelectric body exhibiting a longitudinal effect strain and a piezoelectric body exhibiting a shear effect strain. drive device. 3. The drive device according to claim 1, characterized in that the piezoelectric body coupled to the integral part is composed of a piezoelectric body exhibiting transverse effect strain and a piezoelectric body exhibiting shear effect strain. drive device. 4. In the drive device according to claim 1, the piezoelectric bodies coupled to the integral part include a piezoelectric body exhibiting longitudinal effect strain, and a first piezoelectric body exhibiting shear effect strain;
A drive device comprising a second piezoelectric body exhibiting a shear effect strain orthogonal to the shear effect strain of the first piezoelectric body. 5. In the drive device according to claim 1, the piezoelectric bodies coupled to the integral part include a piezoelectric body exhibiting transverse effect strain, and a first piezoelectric body exhibiting shear effect strain;
A drive device comprising a second piezoelectric body exhibiting a shear effect strain orthogonal to the shear effect strain of the first piezoelectric body. 6. The driving device according to any one of claims 2 to 5, wherein each of the piezoelectric bodies exhibiting six different strain forms is composed of a plurality of piezoelectric bodies. . 7. A drive device according to claim 4 or 5, characterized in that a plurality of piezoelectric bodies exhibiting transverse effect distortion are arranged in parallel and coupled. 8. The driving device according to claim 6 or 7, wherein the plurality of piezoelectric bodies exhibiting six different strain forms have polarization directions in the same direction. 9. The driving device according to claim 6 or 7, wherein the plurality of piezoelectric bodies exhibiting six different strain forms have polarization directions opposite to each other. 10. In the drive device according to claim 9,
A driving device characterized in that electrodes of adjacent piezoelectric bodies are used as a common electrode. 11. A drive device according to any one of claims 1 to 10, characterized in that a wear-resistant member is provided in the moving portion of the piezoelectric body. 12. The drive device according to claim 11, wherein the wear-resistant member is made of a material with a large wear coefficient.