Non-return-difference type three-jaw double-foot anti-clamping peristaltic motor

Abstract

The invention relates to the field of precise micro-driving technology and precise optical instruments, in particular to a return-difference-free three-jaw double-foot reverse-clamping peristaltic motor which comprises a guide rail, a first driving foot, a second driving foot and a self-adaptive mounting cavity. Meanwhile, the first driving foot and the second driving foot are each provided with an amplification compensation hinge, a seesaw type amplification hinge and a claw direction adjusting hinge, multi-stage amplification is conducted on micro displacement generated by claw direction piezoelectric ceramic stacking, then the micro displacement is converted into vertical displacement of a rail pressing claw and tangential displacement of a rail holding claw, and it is ensured that enough displacement compresses and loosens a guide rail. An integrated symmetric design is adopted, complex cooperation of multiple parts of a traditional micro-motion device is abandoned, introduction of gap errors is avoided, magnetic field interference is avoided, grease lubrication is not needed, and the micro-motion device can stably work in extreme environments such as a high-intensity magnetic field, a wide temperature range and vacuum weightlessness; and meanwhile, the high-precision movement requirements in the fields of intelligent manufacturing, ultra-precision machining, measurement and the like are met.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of precise micro-drive technology and precise optical instruments, and particularly relates to a non-backlash type three-claw double-foot reverse clamping peristaltic motor. BACKGROUND

[0002] In the fields of spacecraft centroid adjustment and precise optical instruments, the environmental adaptability, compact structure and non-backlash motion characteristics of the driving motor are required. The traditional driving motors (such as piezoelectric drivers, electromagnetic motors and shape memory alloy drivers) generally have the following shortcomings: first, the reliability problems caused by the large number of parts (such as the pre-tightening mechanism of piezoelectric ceramics, the transmission assembly of electromagnetic motors and the spring reset structure of shape memory alloys) and the backlash caused by the multiple assembly links, which make it difficult to improve the precision; second, most micro-drive technologies (such as magnetostriction and memory alloy) are easily disturbed by environmental factors such as magnetic field and temperature, or rely on grease lubrication and gap fitting components, which cannot adapt to extreme environments such as space temperature difference and weightlessness; third, the weight ratio of traditional driving technology is low, and the load is proportional to the driving force, while the precision is inversely proportional to the driving force, so it is difficult to balance the load and precision.

[0003] In view of the technical problems existing in the field of precise micro-drive technology, the application is designed based on a piezoelectric ceramic motor, aiming to provide a driving motor with compact structure, no backlash and strong environmental adaptability, to solve the problems of large back difference, small weight ratio and poor environmental adaptability of traditional motors, and to realize a high-precision driving technology for spacecraft centroid adjustment and precise optical instruments.

[0004] The granted patent CN102664554 is a passive clamping type piezoelectric driver, which can realize micro-drive and has the characteristics of small size and power-off self-locking, but there are several transfer parts between the clamping mechanism and the driving mechanism, and the two clamping mechanisms are not symmetrical to each other, which is easy to produce large back difference and inconsistent positive and negative motion step, which is not conducive to position feedback control and high-precision positioning.

[0005] The published patent CN103762887 is a cylindrical passive clamping type piezoelectric peristaltic linear motor, which has the characteristics of compact size and power-off self-locking, but the cylindrical guide rail is difficult to limit the rotation of the motor, especially in the weightless environment of space, the linear motion precision of the motor is difficult to guarantee.

[0006] The published patent CN120669384 is a micro inchworm piezoelectric automatic focusing device, which realizes nanometer stepping precision through time sequence driving, and then realizes the backlash-free positioning of the photosensitive element, but the stroke of the ceramic stack is limited by the diamond structure, which is difficult to realize large stroke motion. On the other hand, although it can be locked after power-off, the position also returns to zero, which cannot realize arbitrary position self-locking. SUMMARY

[0007] The present application is to overcome the prior art deficiencies, provide a no hysteresis type three claw double foot reverse clamping peristaltic motor.

[0008] The technical scheme adopted by the present application is as follows:

[0009] A no hysteresis type three claw double foot reverse clamping peristaltic motor comprises a guide rail (1), a first driving foot (2), a second driving foot (3) and a self-adaptive mounting cavity (6). The first driving foot (2), the second driving foot (3) and the self-adaptive mounting cavity (6) are integrally machined and mounted, and the first driving foot (2) and the second driving foot (3) are mounted on the guide rail (1).

[0010] The first driving foot (2) is machined with a claw position pre-tightening hole (7), a wedge-shaped part pre-tightening hole (8), a reserved hole (9), a tuning fork type pre-tightening hinge (10), an amplification compensation hinge (11), a cantilever type amplification hinge (12), a rail holding claw (13), a rail pressing claw (14) and a claw direction adjusting hinge (15); the outer side of the claw direction piezoelectric ceramic stack (16) is connected with the first driving foot (2) by bonding, and the inner side of the claw direction piezoelectric ceramic stack (16) is connected with the ceramic hemisphere (17) by bonding, and the spherical surface of the ceramic hemisphere (17) is interference fit with the tuning fork type pre-tightening hinge (10).

[0011] The claw position fixing part (5) is machined with a claw position pre-tightening hole (23) and an expansion block (24), the claw position pre-tightening hole (23) is threadedly connected with the claw position pre-tightening hole (7), so that the expansion block (24) is interference fit with the tuning fork type pre-tightening hinge (10), thereby expanding and fixing the claw direction piezoelectric ceramic stack (16).

[0012] The self-adaptive mounting cavity (6) is installed with a driving piezoelectric ceramic stack (20), the driving piezoelectric ceramic stack (20) is installed between two pre-tightening wedge-shaped parts (4), the pre-tightening wedge-shaped part (4) is machined with a wedge-shaped part pre-tightening hole (19), a wedge-shaped pre-tightening abutting surface (21) and a right angle limiting groove (22), the wedge-shaped part pre-tightening hole (19) and the wedge-shaped part pre-tightening hole (8) are threadedly connected, so that the wedge-shaped pre-tightening abutting surface (21) is interference fit with the wedge-shaped surface inside the first driving foot (2) and the second driving foot (3), and at the same time, under the guidance of the wedge-shaped pre-tightening abutting surface (21), the right angle limiting groove (22) pushes the driving piezoelectric ceramic stack (20) to move downward in the vertical direction and completes the pre-tightening in the horizontal direction.

[0013] When the motor is not powered or suddenly powered off, the first driving foot (2) and the second driving foot (3) are in a locked state with the guide rail (1).

[0014] When the motor moves, it is realized through 6 steps, and the specific steps are as follows:

[0015] Step 1: only energize the clawing piezoelectric stack (16) of the first driving foot (2), the clawing piezoelectric stack (16) generates forces A1, A2, B1, B2 due to the inverse piezoelectric effect, wherein the forces A1, B1 and the generated deformation are amplified by the cooperative action of the amplification compensation hinge (11) and the cantilevered amplification hinge (12), and are converted into the tangential expansion deformation of the pair of rail clamping claws (13) and the vertical expansion deformation of the rail pressing claw (14), thereby releasing the locking of the guide rail (1).

[0016] Step 2: maintain the power supply state of the clawing piezoelectric stack (16) of the first driving foot (2) (keep the three claws expanded), and energize the driving piezoelectric stack (20) to make it elongate, thereby generating forces C1, C2 and deformation on the first driving foot (2) and the second driving foot (3); since the second driving foot (3) is in a locked state on the guide rail (1), the forces C1, C2 will push the first driving foot (2) which has been released from the lock to move away from the second driving foot (3), thereby completing the forward step displacement of the first driving foot (2) along the guide rail (1).

[0017] Step 3: only maintain the voltage of the driving piezoelectric stack (20), and cut off the power supply of the clawing piezoelectric stack (16) of the first driving foot (2); the clawing piezoelectric stack (16) returns to the unelongated state, the forces A1, A2, B1, B2 disappear, and the rail clamping claws (13) and the rail pressing claw (14) of the first driving foot (2) contract, so that the first driving foot (2) re-clamps the guide rail (1) and forms a lock.

[0018] Step 4: maintain the voltage of the driving piezoelectric stack (20), and energize the clawing piezoelectric stack (16) of the second driving foot (3), the clawing piezoelectric stack (16) will also generate forces A1, A2, B1, B2, wherein the forces A1, B1 and the generated deformation are amplified by the cooperative action of the amplification compensation hinge (11) and the cantilevered amplification hinge (12), so that the rail clamping claws (13) and the rail pressing claw (14) of the second driving foot (3) expand together, thereby releasing the locking of the guide rail (1).

[0019] Step 5: only maintain the power supply state of the clawing piezoelectric stack (16) of the second driving foot (3) (keep the three claws expanded), and cut off the power supply of the driving piezoelectric stack (20); the driving piezoelectric stack (20) contracts, the forces C1, C2 acting on the first driving foot (2) and the second driving foot (3) disappear, and the second driving foot (3) is pulled towards the first driving foot (2) through elastic resetting in the self-adaptive mounting cavity (6), thereby completing the following step displacement of the second driving foot (3).

[0020] Step 6: cut off the power supply of the second driving foot (3) to the piezoelectric ceramic stack (16), the rail clamping jaws (13) and the rail pressing jaws (14) of the second driving foot (3) retract, the second driving foot (3) re-clamps the guide rail (1), and a locking is formed.

[0021] Repeat the above 6 steps, the motor can realize forward stepping straight line motion along the guide rail (1); if the 6 steps are executed in reverse order, the motor can realize reverse straight line motion along the guide rail (1), the whole process relies on the structure pre-tightening and gapless cooperation to ensure that the motion has no backlash. Through the reserved hole (9), a measuring device can be installed to realize position negative feedback adjustment and greatly improve the positioning accuracy. Through the reserved hole (9), a load mass block can also be installed to improve the load ratio and centroid adjustment efficiency.

[0022] The symmetrically arranged rail clamping jaws (13) and the vertically arranged rail pressing jaws (14) form a three-jaw positioning in space; through the coordinated action of a pair of rail clamping jaws (13) and rail pressing jaws (14), a pair of line contact and surface contact five-degree-of-freedom constraints are formed with the guide rail, only the degree of freedom in the direction of motion along the guide rail is reserved, and the radial movement and circumferential rotation of the guide rail can be limited; the first driving foot (2) and the second driving foot (3) are both processed with an amplification compensation hinge (11), a cantilever hinge (12) and a jaw adjusting hinge (15), the micro-displacement generated by the jaw pressing piezoelectric ceramic stack (16) is amplified in multiple stages, and then converted into vertical displacement of the rail pressing jaws (14) and tangential displacement of the rail clamping jaws (13), to ensure that enough displacement is formed to press and release the guide rail.

[0023] The three-jaw double-foot reverse clamping peristaltic motor of the application has the following characteristics and advantages compared with the existing driving motor:

[0024] 1. Independent control of clamping and driving, high stepping precision and flexible control. The piezoelectric ceramics of the clamping mechanism and the driving mechanism are independently controlled based on the principle of peristaltic motor, the influence of inertial motion is eliminated, the step length is accurately controlled through electrical parameters (voltage, frequency, timing), the driving logic is simple, the positioning accuracy is high, and the motor can be integrated into various automatic control systems.

[0025] 2. Integrated design, avoiding the introduction of backlash caused by gap error. The application discards the complex cooperation of multiple parts (such as multi-link displacement transmission structure) of the traditional micro-motion device, avoids the introduction of gap error, and ensures that the forward and reverse motion steps are consistent through integrated symmetrical design, which realizes the design of no backlash in principle.

[0026] 3. The environment is adaptable, especially suitable for space weightlessness, large temperature difference and other occasions. The application is not interfered by magnetic field, does not need grease lubrication, and has no gap fit, so it can work stably in strong magnetic field, wide temperature range, vacuum weightlessness and other extreme environments, and also meets the high-precision motion demand in the fields of intelligent manufacturing, ultra-precision machining and measurement. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the application;

[0028] Figure 2 It is a structural schematic diagram of the first and second driving feet when they are not assembled;

[0029] Figure 3 It is a structural schematic diagram of the first or second driving foot;

[0030] Figure 4 It is an assembly schematic diagram of the pre-tightening wedge-shaped part;

[0031] Figure 5 It is a structural schematic diagram of the claw position fixing part;

[0032] Figure 6 It is a strain simulation diagram of the claw direction piezoelectric ceramic stack;

[0033] Figure 7 It is a strain simulation diagram of the driving piezoelectric ceramic stack.

[0034] In the figure: 1, guide rail; 2, first driving foot; 3, second driving foot; 4, pre-tightening wedge-shaped part; 5, claw position fixing part; 6, self-adapting mounting cavity; 7, claw position pre-tightening fit hole;

[0035] 8, wedge-shaped part pre-tightening fit hole; 9, reserved hole; 10, tuning fork type pre-tightening hinge; 11, amplification compensation hinge; 12, cantilever type amplification hinge; 13, rail holding claw; 14, rail pressing claw;

[0036] 15, claw direction adjusting hinge; 16, claw direction piezoelectric ceramic stack; 17, ceramic hemisphere; 18, fulcrum hinge; 19, wedge-shaped part pre-tightening hole; 20, driving piezoelectric ceramic stack; 21, wedge-shaped pre-tightening fit surface; 22, right angle limiting groove; 23, claw position pre-tightening hole; 24, expansion block. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, achieved target and effect of the application easy to understand, the application is further described below in combination with specific embodiments.

[0038] REFERENCE Figure 1 A no-backlash type three-claw double-foot reverse pincer position peristaltic motor comprises a guide rail (1), a first driving foot (2) and a second driving foot (3).

[0039] REFERENCEFigure 2 The first driving foot (2) and the second driving foot (3) are of the same structure and symmetrical design, an adaptive mounting cavity (6) is processed between the first driving foot (2) and the second driving foot (3), and the first driving foot (2), the second driving foot (3) and the adaptive mounting cavity (6) are integrally processed.

[0040] Referring to Figure 1 , Figure 2 A pre-tightening wedge (4) is mounted in the adaptive mounting cavity (6), and a claw position fixing member (5) is mounted on each of the first driving foot (2) and the second driving foot (3).

[0041] Referring to Figure 2 , Figure 3 A claw position pre-tightening matching hole (7), a wedge pre-tightening matching hole (8), a reserved hole (9), a tuning fork type pre-tightening hinge (10), an amplification compensation hinge (11), a cantilever type amplification hinge (12), a pair of rail holding claws (13), a rail pressing claw (14) and a claw direction adjusting hinge (15) are processed on the first driving foot (2); the rail pressing claw (14) is connected with the first driving foot (2) as a whole through the amplification compensation hinge (11), the cantilever type amplification hinge (12) and the claw direction adjusting hinge (15); a claw direction piezoelectric ceramic stack (16) is connected with the first driving foot (2) by adhesion on the outside, and is connected with a ceramic hemisphere (17) by adhesion on the inside; the spherical surface of the ceramic hemisphere (17) is in interference fit with the tuning fork type pre-tightening hinge (10); the claw position fixing member (5) is mounted between the tuning fork type pre-tightening hinges (10).

[0042] Referring to Figure 4 A claw position pre-tightening hole (23) and an expansion block (24) are arranged on the claw position fixing member (5)

[0043] Referring to Figure 3 , Figure 4 A screw is passed through the claw position pre-tightening hole (23) from bottom to top, and then fixed with the claw position pre-tightening matching hole (7), so that the expansion block (24) is in interference fit with the tuning fork type pre-tightening hinge (10), and then the claw direction piezoelectric ceramic stack (16) is expanded and fixed.

[0044] Referring to Figure 3 , Figure 5The adaptive installation cavity (6) is internally installed with a driving piezoelectric ceramic stack (20), which is installed between two pre-tightening wedges (4) with a wedge pre-tightening hole (19), a wedge pre-tightening abutting surface (21) and a right-angle limiting slot (22) machined thereon. The wedge pre-tightening hole (19) is threadedly connected with the wedge pre-tightening fitting hole (8) on the first driving foot (2) and the second driving foot (3), so that a pre-tightening force is formed between the pre-tightening wedge (4) and the wedge pre-tightening abutting surface (21), and the driving piezoelectric ceramic stack (20) is formed with an interference fit between the first driving foot (2) and the second driving foot (3). During the pre-tightening process, the right-angle limiting slot (22) pushes the driving piezoelectric ceramic stack (20) to move downward in the vertical direction and is completely pre-tightened.

[0045] One step action of the non-backlash type three-jaw double-foot reverse clamping peristaltic motor is achieved through six ordered steps, relying on the alternating locking-driving-resetting of the first driving foot (2) and the second driving foot (3) to achieve non-backlash linear motion along the guide rail (1). The specific steps are as follows:

[0046] Step 1: only the jaw-to-piezoelectric ceramic stack (16) of the first driving foot (2) is powered, and the jaw-to-piezoelectric ceramic stack (16) expands in the jaw direction due to the inverse piezoelectric effect; refer to Figure 6 , thereby generating A1, A2, B1, B2 forces. The first driving foot (2) acted on by A1 and B1 forces is transformed into a pair of tangential expansion deformation of the rail clamping jaw (13) and vertical expansion deformation of the rail pressing jaw (14) through the cooperative amplification of the amplification compensation hinge (11) and the cantilever amplification hinge (12); the jaw adjusting hinge (15) synchronously corrects the movement direction of the rail pressing jaw (14), so that the rail clamping jaw (13) and the rail pressing jaw (14) of the first driving foot (2) expand together to release the locking of the guide rail (1).

[0047] Step 2: maintain the power supply state of the first driving foot (2) jaw-to-piezoelectric ceramic stack (16) (keep the jaw expanded), refer to Figure 7 , and power the driving piezoelectric ceramic stack (20) to elongate, generating C1 and C2 forces on the first driving foot (2) and the second driving foot (3). Since the second driving foot (3) is still in the jaw locking state, the C1 force will push the first driving foot (2) which has been unlocked to move away from the second driving foot (3), thereby completing the forward step displacement of the first driving foot (2).

[0048] Step 3: Maintain only the voltage of the driving piezoelectric ceramic stack (20), and cut off the power supply from the first driving foot (2) claw to the piezoelectric ceramic stack (16); the claw returns to the original state of the piezoelectric ceramic stack (16), the forces A1, A2, B1, and B2 disappear, and the elastic restoring force of the first driving foot (2) drives the rail gripping claw (13) and the rail pressing claw (14) to retract, so that the first driving foot (2) firmly clamps the guide rail (1) again and forms a lock.

[0049] Step 4: Maintain the voltage of the driving piezoelectric ceramic stack (20), and energize the claw of the second driving foot (3) to the piezoelectric ceramic stack (16). The claw produces a micro displacement of the piezoelectric ceramic stack (16). Through the synergistic amplification effect of the amplification compensation hinge (11) and the rocker amplification hinge (12), it is transformed into the tangential expansion deformation of a pair of rail-holding claws (13) and the vertical expansion deformation of the rail-pressing claw (14). The claw synchronously corrects the movement direction of the rail-pressing claw (14) through the adjustment hinge (15), and finally makes the rail-holding claw (13) and the rail-pressing claw (14) of the second driving foot (3) expand together, releasing the lock on the guide rail (1).

[0050] Step 5: Maintain the power supply of the second driving foot (3) claw to the piezoelectric ceramic stack (16) (keep the claw expanded), and cut off the power supply to the driving piezoelectric ceramic stack (20); drive the piezoelectric ceramic stack (20) to contract, and the C1 and C2 forces acting on the first driving foot (2) and the second driving foot (3) disappear. Through the elastic reset force of the adaptive mounting cavity (6), the second driving foot (3) is pulled towards the first driving foot (2), thereby completing the following step displacement of the second driving foot (3).

[0051] Step 6: Cut off the power supply from the second drive foot (3) claw to the piezoelectric ceramic stack (16). Under the action of the reset force of the second drive foot (3) and each hinge, its claw retracts and locks the guide rail (1), restoring the initial state in which the first drive foot (2) and the second drive foot (3) are locked with the guide rail (1), thus ensuring the motor's self-locking capability when the power is cut off.

[0052] Repeating the above 6 steps, the motor can achieve forward stepping linear motion along the guide rail (1); reversing the 6 steps will achieve reverse linear motion of the motor along the guide rail (1), ensuring no backlash throughout the process thanks to structural pre-tightening and clearance-free fit. A measuring device can be installed through the reserved hole (9) to achieve negative feedback adjustment of position, greatly improving the motion positioning accuracy. A load mass can also be installed through the reserved hole (9) to improve the load ratio and center of gravity adjustment efficiency.

[0053] The foregoing has shown and described the basic principles and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A zero-backlash three-paw dual-foot reverse-pawl creep motor, comprising a guide rail (1), a first driving foot (2), a second driving foot (3) and a self-adapting mounting cavity (6), characterized in that: The first driving foot (2), the second driving foot (3) and the adaptive mounting cavity (6) are integrally machined and mounted, and the first driving foot (2) and the second driving foot (3) are mounted on the guide rail (1); The first driving foot (2) is machined with a claw position pre-tightening fitting hole (7), a wedge-shaped part pre-tightening fitting hole (8), a reserved hole (9), a tuning fork type pre-tightening hinge (10), an amplification compensation hinge (11), a cantilever type amplification hinge (12), a rail holding claw (13), a rail pressing claw (14) and a claw direction adjusting hinge (15); the claw direction piezoelectric ceramic stack (16) is connected with the first driving foot (2) through adhesion on the outer side and connected with the ceramic hemisphere (17) through adhesion on the inner side, and the spherical surface of the ceramic hemisphere (17) is in interference fit with the tuning fork type pre-tightening hinge (10); the claw position fixing part (5) is machined with a claw position pre-tightening hole (23) and an expansion block (24), the claw position pre-tightening hole (23) is in threaded connection with the claw position pre-tightening fitting hole (7) to make the expansion block (24) in interference fit with the tuning fork type pre-tightening hinge (10), so that the claw direction piezoelectric ceramic stack (16) is expanded and fixed; The adaptive mounting cavity (6) is mounted with a driving piezoelectric ceramic stack (20), the driving piezoelectric ceramic stack (20) is mounted between two pre-tightening wedge-shaped parts (4), the pre-tightening wedge-shaped part (4) is machined with a wedge-shaped part pre-tightening hole (19), a wedge-shaped pre-tightening abutting surface (21) and a right angle limiting groove (22), the wedge-shaped part pre-tightening hole (19) and the wedge-shaped part pre-tightening fitting hole (8) are in threaded connection to make the wedge-shaped pre-tightening abutting surface (21) in interference fit with the wedge-shaped surface on the inner side of the first driving foot (2) and the second driving foot (3), and at the same time, under the guidance of the wedge-shaped pre-tightening abutting surface (21), the right angle limiting groove (22) pushes the driving piezoelectric ceramic stack (20) to move downward in the vertical direction and completes the pre-tightening in the horizontal direction.

2. A zero-backlash triple-claw double-foot reverse click peristaltic motor according to claim 2, characterized in that: When the motor is not powered or suddenly powered off, the first driving foot (2) and the second driving foot (3) are in the locked state with the guide rail (1); when the motor moves, it is realized through 6 steps, and the specific steps are as follows: Step 1: only power the claw direction piezoelectric ceramic stack (16) of the first driving foot (2), the claw direction piezoelectric ceramic stack (16) generates forces A1, A2, B1 and B2 due to the inverse piezoelectric effect, wherein the forces A1 and B1 and the deformation generated are converted into a pair of rail holding claws (13) tangential expansion deformation and rail pressing claws (14) vertical expansion deformation through the cooperative action of the amplification compensation hinge (11) and the cantilever type amplification hinge (12), and the locking of the guide rail (1) is released; Step 2: maintain the power supply state of the claw direction piezoelectric ceramic stack (16) of the first driving foot (2) (keep the three claws expanded), and at the same time, power the driving piezoelectric ceramic stack (20) to make it elongate, and generate forces C1 and C2 and deformation on the first driving foot (2) and the second driving foot (3); since the second driving foot (3) is in the locked state on the guide rail (1), the forces C1 and C2 will push the first driving foot (2) which has been unlocked to move away from the second driving foot (3), and then complete the forward step displacement of the first driving foot (2) along the guide rail (1); Step 3: only maintain the voltage of the driving piezoelectric ceramic stack (20), while cutting off the power supply of the clawing piezoelectric ceramic stack (16) of the first driving foot (2); the clawing piezoelectric ceramic stack (16) returns to the non-elongated state, the forces A1, A2, B1 and B2 disappear, the rail clamping claws (13) and the rail pressing claws (14) of the first driving foot (2) retract, so that the first driving foot (2) re-clamps the guide rail (1) and forms a lock; Step 4: maintain the voltage of the driving piezoelectric ceramic stack (20), and power on the clawing piezoelectric ceramic stack (16) of the second driving foot (3); the clawing piezoelectric ceramic stack (16) also generates forces A1, A2, B1 and B2, wherein the forces A1 and B1 and the generated deformation are amplified by the cooperative action of the amplification compensation hinge (11) and the cantilever amplification hinge (12), so that the rail clamping claws (13) and the rail pressing claws (14) of the second driving foot (3) expand together to release the lock of the guide rail (1); Step 5: only maintain the power supply state of the clawing piezoelectric ceramic stack (16) of the second driving foot (3) (keep the three claws expanded), and cut off the power supply of the driving piezoelectric ceramic stack (20); the driving piezoelectric ceramic stack (20) retracts, the forces C1 and C2 acting on the first driving foot (2) and the second driving foot (3) disappear, and the second driving foot (3) is pulled to the first driving foot (2) through elastic resetting of the self-adaptive mounting cavity (6), thereby completing the following step displacement of the second driving foot (3); Step 6: cut off the power supply of the clawing piezoelectric ceramic stack (16) of the second driving foot (3), the rail clamping claws (13) and the rail pressing claws (14) of the second driving foot (3) retract, so that the second driving foot (3) re-clamps the guide rail (1) and forms a lock; Repeat the above 6 steps, and the motor can realize forward step straight line motion along the guide rail (1); if the 6 steps are executed in reverse order, the motor can realize reverse straight line motion along the guide rail (1), and the whole process relies on structure pre-tightening and gapless cooperation to ensure motion without backlash. A measuring device can be installed through the reserved hole (9), thereby realizing position negative feedback regulation and greatly improving the motion positioning accuracy. A load mass block can also be installed through the reserved hole (9), thereby improving the load ratio and mass center adjustment efficiency.

3. A zero-backlash triple-claw double-foot reverse click peristaltic motor according to claim 1, characterized in that: The symmetrically arranged rail clamping claws (13) and the vertically arranged rail pressing claws (14) form a three-claw positioning in space; through the cooperative action of a pair of rail clamping claws (13) and rail pressing claws (14), a pair of line contact and surface contact five-degree-of-freedom constraints are formed with the guide rail, only the freedom in the direction of motion along the guide rail is reserved, and the radial movement and circumferential rotation of the guide rail can be limited; the first driving foot (2) and the second driving foot (3) are both processed with the amplification compensation hinge (11), the cantilever amplification hinge (12) and the clawing adjustment hinge (15), the micro-displacement of the clawing piezoelectric ceramic stack (16) is amplified in multiple stages, and then converted into the vertical displacement of the rail pressing claws (14) and the tangential displacement of the rail clamping claws (13), so as to ensure sufficient displacement to press and release the guide rail.

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