A piezoelectric inchworm rotary motor

Abstract

The present invention provides a piezoelectric inchworm rotating motor, comprising an end cover for fixed support and a drive clamping integrated structure, wherein the end cover is connected to one side of the drive clamping integrated structure, and the other side of the drive clamping integrated structure is connected to a sleeve; the piezoelectric inchworm rotating motor described in the present invention, the arrangement of the drive clamping integrated structure makes the entire motor not only small in size and compact in structure, and can achieve self-locking, but also reduces the processing and assembly accuracy of the components constituting the motor.

Description

Technical Field

[0001] The present invention relates to the field of drivers, and in particular to a piezoelectric inchworm rotating motor. Background Art

[0002] In recent years, the driving methods of large-stroke, high-resolution precision positioning systems are mainly piezoelectric rotary motors, which can be divided into ultrasonic resonance type, inertial type, and inchworm (or) type according to different driving principles. Among them, the inchworm type overcomes the shortcomings of small output force, low efficiency and motion accuracy of the ultrasonic resonance type and small output force and unstable positioning of the inertial type, and has the advantages of large output force, high power density, and stable positioning. However, the current piezoelectric inchworm rotary motor still has the following shortcomings: large size and non-compact structure; the clamping displacement or release displacement of the clamping mechanism is mostly provided by the piezoelectric actuator, and the output displacement of the piezoelectric actuator is often very small. In order to enable the clamping mechanism to clamp and release reliably, the various components of the clamping mechanism must have very high processing and assembly accuracy; and, since the output displacement of the piezoelectric actuator is small, the clamping mechanism may not be fully clamped or released. If it cannot be fully clamped, the clamping force of the clamping mechanism will be small, and the motor movement stability will be reduced. If it cannot be fully released, serious friction and wear will occur, reducing the life of the motor; the motor cannot be self-locking (i.e., it cannot be clamped when the power is off), that is, when the motor is not working, the sleeve cannot be clamped by the clamping mechanism.

[0003] Therefore, it is particularly important to provide a piezoelectric inchworm rotary motor with a simple and compact structure, an integrated clamping mechanism and a driving mechanism, low requirements on component processing and assembly accuracy, a piezoelectric actuator that is only subjected to pressure, and the ability to be clamped when power is off. Summary of the invention

[0004] The problem solved by the invention is that the piezoelectric inchworm rotary motor has a large volume, a non-compact structure and high requirements on the processing and assembly precision of parts.

[0005] To solve the above problems, the technical solution of the present invention is achieved as follows:

[0006] The present invention provides a piezoelectric inchworm rotary motor, comprising an end cover for fixed support, and a drive clamp integrated structure, wherein the end cover is connected to one side of the drive clamp integrated structure, and the other side of the drive clamp integrated structure is connected to a sleeve. The piezoelectric inchworm rotary motor of the present invention has a drive clamp integrated structure, which makes the entire motor not only small in size and compact in structure, and can achieve self-locking, but also reduces the processing and assembly accuracy of the parts constituting the motor.

[0007] Furthermore, the drive-clamp integrated structure includes a clamp mechanism and a drive mechanism, and the clamp mechanism is connected to the drive mechanism. The drive-clamp integrated structure eliminates the need for assembly and adjustment, and reduces the machining and assembly accuracy of components.

[0008] Furthermore, the clamping mechanism includes a clamping body, the clamping body is connected to the folding beam, and also includes a piezoelectric actuator for release, the piezoelectric actuator for release is fixed to the clamping body through a clamping pre-tightening screw. The clamping body and the folding beam of the clamping mechanism form a lever amplification structure to achieve the amplification function of the output displacement of the clamping mechanism.

[0009] Furthermore, the clamp body is provided with a mounting hole, which cooperates with the clamp pre-tightening screw. The mounting hole is used to combine with the clamp pre-tightening screw to pre-tighten the release piezoelectric actuator to prevent the release piezoelectric actuator from rotating and lateral displacement.

[0010] Furthermore, the driving mechanism includes a rigid ring, a rotating rigid body is provided inside the rigid ring, a driving piezoelectric actuator is provided on the rotating rigid body, and the driving piezoelectric actuator is fixed in the rigid ring by a driving pre-tightening screw. The setting of the driving mechanism can well convert the linear displacement of the driving piezoelectric actuator into rotational motion, and then the clamping mechanism also realizes rotational motion, and finally drives the sleeve to rotate.

[0011] Furthermore, the rigid ring is connected to the rotating rigid body via a flexible hinge. The provision of the flexible hinge enhances the stability of the rotation of the rotating rigid body and prevents the rotating rigid body from axially swinging.

[0012] Furthermore, the rigid ring is provided with a first positioning hole and a second positioning hole, the first positioning hole is arranged in the radial direction of the rigid ring, and the second positioning hole is arranged in the axial direction of the rigid ring. The first positioning hole is used to combine with the driving pre-tightening screw, so as to pre-tighten the driving piezoelectric actuator to prevent the driving piezoelectric actuator from rotating and lateral displacement, and ensure that the driving pre-tightening screw is coaxial with the driving piezoelectric actuator, and the second positioning hole is used to combine with the connecting screw to connect the driving clamping integrated structure with the end cover.

[0013] Furthermore, the clamping body and folding beam of the clamping mechanism are an integrally formed structure; the rigid ring, rotating rigid body and flexible hinge of the driving mechanism are an integrally formed structure; the folding beam of the clamping mechanism is connected to the rotating rigid body of the driving mechanism, and the folding beam and the rotating rigid body are an integrally formed structure. The setting of the integrally formed structure avoids the assembly of parts, thereby reducing the processing and assembly accuracy of parts.

[0014] Furthermore, the end cover comprises a connecting portion and a fixing portion, wherein the fixing portion is arranged at one end of the connecting portion and extends in a direction perpendicular to the connecting portion. The arrangement of the end cover enables the motor to be fixed more firmly.

[0015] Furthermore, the sleeve is provided with a first mounting groove, and the first mounting groove is arranged through the sleeve in the axial direction. The arrangement of the sleeve can better cooperate with the drive clamp integrated structure to achieve rotational movement.

[0016] Compared with the prior art, the piezoelectric inchworm rotating motor described in the present invention has the following beneficial effects:

[0017] 1) The piezoelectric inchworm rotary motor of the present invention drives the clamping integrated structure, thereby reducing the processing and assembly accuracy of the parts constituting the motor;

[0018] 2) The piezoelectric inchworm rotary motor of the present invention has a small size and a compact structure;

[0019] 3) The piezoelectric inchworm rotary motor of the present invention can release or clamp the sleeve very easily by the clamping mechanism;

[0020] 4) The piezoelectric inchworm rotary motor described in the present invention can achieve self-locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the electric inchworm rotating motor according to an embodiment of the present invention;

[0022] Figure 2 It is a three-dimensional diagram of the clamping mechanism of the piezoelectric inchworm rotary motor according to an embodiment of the present invention;

[0023] Figure 3 A three-dimensional diagram of a driving mechanism of a piezoelectric inchworm rotary motor according to an embodiment of the present invention;

[0024] Figure 4 A three-dimensional diagram of a sleeve of a piezoelectric inchworm rotary motor according to an embodiment of the present invention;

[0025] Figure 5 A three-dimensional diagram of an end cover of a piezoelectric inchworm rotary motor according to an embodiment of the present invention;

[0026] Figure 6 This is a timing control diagram of the clamping mechanism and the driving mechanism of the piezoelectric inchworm rotary motor according to an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1-driving clamping integrated structure, 11-clamping mechanism, 111-clamping body, 112-folding beam, 113-piezoelectric actuator for release, 114-clamping pre-tightening screw, 115-mounting hole, 116-clamping structure, 1161-first extension portion, 1162-second extension portion, 1163-accommodating chamber, 12-driving mechanism, 121-rigid ring, 122-rotating rigid body, 123-driving piezoelectric actuator, 124-driving pre-tightening screw, 125-flexible hinge, 126-first positioning hole, 127-second positioning hole, 128-supporting portion, 2-sleeve, 21-first mounting groove, 3-end cover, 31-connecting portion, 311-third mounting hole, 312-second mounting groove, 32-fixing portion, 321-fourth mounting hole, 4-connecting screw. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] Example 1

[0031] A piezoelectric inchworm rotary motor, such as Figure 1 As shown, it includes an end cap 3 for fixing support and a drive clamping integrated structure 1, wherein the end cap 3 is connected to one side of the drive clamping integrated structure 1, and the other side of the drive clamping integrated structure 1 is connected to the sleeve 2. The setting of the drive clamping integrated structure 1 makes the entire motor not only small in size and compact in structure, and can achieve self-locking, but also reduces the processing and assembly accuracy of the parts constituting the motor.

[0032] Specifically, Figure 1-3 As shown, the driving clamping integrated structure 1 comprises a clamping mechanism 11 and a driving mechanism 12, and the clamping mechanism 11 is connected to the driving mechanism 12. More specifically, the folding beam 112 of the clamping mechanism 11 is connected to the rotating rigid body 122 of the driving mechanism 12.

[0033] More specifically, Figure 2 As shown, the clamping mechanism 11 includes a clamping body 111 , which is connected to a folding beam 112 , and also includes a releasing piezoelectric actuator 113 , which is fixed to the clamping body 111 via a clamping pre-tightening screw 114 .

[0034] More specifically, the clamp body 111 is provided with a mounting hole 115, and the mounting hole 115 cooperates with the clamp pre-tightening screw 114. The mounting hole 115 is used to combine with the clamp pre-tightening screw 114 to pre-tighten the release piezoelectric actuator 113 to prevent the release piezoelectric actuator 113 from rotating and lateral displacement.

[0035] More specifically, a locking structure 116 is provided on the clamp body 111, and the locking structure 116 includes a first extension portion 1161, a second extension portion 1162 and a accommodating cavity 1163. The first extension portion 1161 and the second extension portion 1162 are provided on the clamp body 111 and extend toward a side close to the folding beam 112. The first extension portion 1161, the second extension portion 1162 and the clamp body 111 form an accommodating cavity 1163. One end of the release piezoelectric actuator 113 is placed in the accommodating cavity 1163, and the other end of the release piezoelectric actuator 113 is fixed by the clamp pre-tightening screw 114.

[0036] The clamping body 111 and the folding beam 112 of the clamping mechanism 11 form a lever amplification structure to realize the amplification function of the output displacement of the clamping mechanism 11. When the release piezoelectric actuator 113 is extended under the action of voltage, the output displacement of the release piezoelectric actuator 113 along the axial direction is completely converted into the release displacement of the clamping body 111 along the clamping direction through the lever amplification structure.

[0037] More specifically, Figure 3 As shown, the driving mechanism 12 includes a rigid ring 121 , a rotating rigid body 122 is provided inside the rigid ring 121 , a driving piezoelectric actuator 123 is provided on the rotating rigid body 122 , and the driving piezoelectric actuator 123 is fixed in the rigid ring 121 by a driving pre-tightening screw 124 .

[0038] More specifically, a support portion 128 is disposed on the rotating rigid body 122 , one end of the driving piezoelectric actuator 123 is placed on the support portion 128 , and the other end of the driving piezoelectric actuator 123 is fixed by driving a pre-tightening screw 124 .

[0039] More specifically, the rigid ring 121 is connected to the rotating rigid body 122 via a flexible hinge 125. The provision of the flexible hinge 125 enhances the stability of the rotation of the rotating rigid body 122 and prevents the rotating rigid body 122 from axially swinging.

[0040] The arrangement of the driving mechanism 12 can well convert the linear displacement of the driving piezoelectric actuator 123 into rotational motion. Since the clamping mechanism 11 and the driving mechanism 12 are an integrated structure, the clamping mechanism 11 also realizes rotational motion, and finally drives the sleeve 2 to rotate.

[0041] like Figure 3As shown, the rotating rigid body 122 is used to realize rotational motion. The rotating rigid body 122 is connected to the rigid ring 121 through four flexible hinges 125. When the driving piezoelectric actuator 123 is energized and stretched and deformed, it drives the rotating rigid body 122 to rotate, thereby converting the linear displacement of the driving piezoelectric actuator 123 into the rotational displacement of the rotating rigid body 122. The rotation of the rotating rigid body 122 then drives the rotation of the clamping mechanism 11, and finally drives the sleeve 2 to rotate.

[0042] More specifically, the rigid ring 121 is provided with a first positioning hole 126 and a second positioning hole 127. The first positioning hole 126 is provided in the radial direction of the rigid ring 121, and the second positioning hole 127 is provided in the axial direction of the rigid ring 121. The first positioning hole 126 is a through hole, and the second positioning hole 127 is a threaded hole provided through. The first positioning hole 126 is used to be combined with the driving pre-tightening screw 124, so as to pre-tighten the driving piezoelectric actuator 123, prevent the driving piezoelectric actuator 123 from rotating and lateral displacement, and ensure that the driving pre-tightening screw 124 is coaxial with the driving piezoelectric actuator 123. The second positioning hole 127 is used to be combined with the connecting screw 4, so as to connect the driving clamping integrated structure 1 with the end cover 2.

[0043] More specifically, the clamping body 111 and the folding beam 112 of the clamping mechanism 11 are an integrally formed structure; the rigid ring 121, the rotating rigid body 122 and the flexible hinge 125 of the driving mechanism 12 are an integrally formed structure; the folding beam 112 of the clamping mechanism 11 and the rotating rigid body 122 of the driving mechanism 12 are connected, and the folding beam 112 and the rotating rigid body 122 are an integrally formed structure. The setting of the integrally formed structure avoids the assembly of parts, thereby reducing the processing and assembly accuracy of parts.

[0044] Specifically, Figure 5 As shown, the end cover 3 includes a connecting portion 31 and a fixing portion 32. The fixing portion 32 is arranged at one end of the connecting portion 31 and extends in a direction perpendicular to the connecting portion 31. The arrangement of the end cover 3 enables the motor to be fixed more firmly.

[0045] More specifically, the connecting portion 31 is provided with a third positioning hole 311 and a mounting groove 312. The third positioning hole 311 is used to cooperate with the second positioning hole 127. The connecting screw 4 passes through the third positioning hole 311 and the second positioning hole 127, so as to connect the drive clamping integrated structure 1 with the end cover 2. The mounting groove 312 is provided on the connecting portion 31, and the mounting groove 312 extends in the direction of the fixing portion 32. The fixing portion 32 is provided with the fourth positioning hole 321, and the fourth positioning hole 321 is a through hole set through and used to fix the motor.

[0046] Specifically, Figure 4 As shown, the sleeve 2 is provided with a first mounting groove 21, and the first mounting groove 21 is arranged through the axial direction of the sleeve 2. The arrangement of the sleeve 2 can better cooperate with the drive clamp integrated structure 1 to achieve rotational movement.

[0047] The present invention realizes high-resolution, long-stroke continuous rotation of the rotating sleeve through the alternating actions of the clamping mechanism and the driving mechanism. Figure 1 As shown, when the motor end cover is constrained by the connecting screws thereon, and the clamping mechanism and the driving mechanism are pre-tightened with the clamping pre-tightening screws and the driving pre-tightening screws respectively, the left end cover, the left driving clamping integrated structure, the sleeve, the right driving clamping integrated structure and the right end cover are connected in sequence from left to right, and the driving mechanism and the clamping mechanism are the left driving mechanism, the left clamping mechanism, the right clamping mechanism and the right driving mechanism from left to right.

[0048] The motion process of the piezoelectric inchworm rotary motor described in the present invention is as follows:

[0049] 1) If Figure 6 As shown, when the driving piezoelectric actuator is powered off and the left release piezoelectric actuator is powered off, that is, the left side of the transmission sleeve is clamped, the release piezoelectric actuator of the right clamping mechanism is powered on (the voltage action timing is as shown in FIG. Figure 6 (a)), so that the right side of the sleeve is in a released state, and the length of time the right side of the sleeve is in the released state is t1;

[0050] 2) If Figure 6 As shown, the left and right driving piezoelectric actuators are energized at the same time (the voltage action sequence is as follows Figure 6 (b) and 6(c)), the right driving mechanism idles clockwise, and the left driving mechanism rotates counterclockwise, driving the left clamping mechanism to rotate counterclockwise, and then driving the sleeve to rotate counterclockwise. The length of time for the sleeve to rotate counterclockwise is t2;

[0051] 3) If Figure 6 As shown, the piezoelectric actuator for releasing the right clamping mechanism is powered off (the voltage action sequence is as follows Figure 6 (a)), so that the right side of the sleeve is in a clamped state, and the length of time the right side of the sleeve is in the clamped state is t1;

[0052] 4) If Figure 6 As shown, the piezoelectric actuator for releasing the left clamp mechanism is energized (the voltage action sequence is as follows Figure 6 (d)), thereby placing the left side of the sleeve in a released state;

[0053] 5) If Figure 6 As shown, the power to the left and right driving piezoelectric actuators is cut off at the same time (the voltage action sequence is as follows Figure 6(b) and 6(c)), so the left and right drive mechanisms are reset and rotated, so the left drive mechanism returns to idle rotation clockwise, and the right drive mechanism drives the right clamping mechanism to rotate counterclockwise, and then drives the sleeve to rotate counterclockwise;

[0054] 6) If Figure 6 As shown, the piezoelectric actuator for releasing the left clamp mechanism is powered off (the voltage action sequence is as follows Figure 6 (d)), so that the left side of the sleeve is in a clamped state;

[0055] Repeating 1) to 6) will cause the sleeve to rotate counterclockwise continuously; by changing the power-on sequence of the release piezoelectric actuator and the drive piezoelectric actuator, the sleeve can be rotated clockwise continuously.

[0056] The piezoelectric inchworm rotating motor described in the present invention has the following beneficial effects:

[0057] 1) The piezoelectric inchworm rotary motor of the present invention drives the clamping integrated structure, thereby reducing the processing and assembly accuracy of the parts constituting the motor;

[0058] 2) The piezoelectric inchworm rotary motor of the present invention has a small size and a compact structure;

[0059] 3) The piezoelectric inchworm rotary motor of the present invention can amplify the displacement of the piezoelectric actuator for release along the axial direction into the displacement of the clamping mechanism along the clamping direction because the clamping mechanism has a displacement amplification function. The clamping mechanism can easily release or clamp the sleeve.

[0060] 4) For the piezoelectric inchworm rotary motor described in the present invention, when the release piezoelectric actuator is not energized, the sleeve will be clamped by the clamping mechanism and cannot output displacement, and the motor will achieve self-locking.

[0061] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A piezoelectric inchworm rotating motor, comprising an end cover (3) for fixed support, characterized in that: It also comprises a drive clamping integrated structure (1), the end cover (3) being connected to one side of the drive clamping integrated structure (1), the other side of the drive clamping integrated structure (1) being connected to the sleeve (2), two end covers (3) and two drive clamping integrated structures (1) being provided, and the two end covers (3) and two drive clamping integrated structures (1) being symmetrically provided on both sides of the sleeve (2); The drive-clamp integrated structure (1) comprises a clamping mechanism (11) and a driving mechanism (12), wherein the clamping mechanism (11) is connected to the driving mechanism (12). The clamping mechanism (11) comprises a clamping body (111) and a folding beam (112), wherein the clamping body (111) is connected to the folding beam (112), and further comprises a releasing piezoelectric actuator (113), wherein the releasing piezoelectric actuator (113) is fixed to the clamping body (111) via a clamping pre-tightening screw (114). The driving mechanism (12) comprises a rigid ring (121), a rotating rigid body (122) is provided on the inner side of the rigid ring (121), the rigid ring (121) is connected to the rotating rigid body (122) via a flexible hinge (125), a driving piezoelectric actuator (123) is provided on the rotating rigid body (122), and the driving piezoelectric actuator (123) is fixed in the rigid ring (121) via a driving pre-tightening screw (124). The clamping body (111) and the folding beam (112) of the clamping mechanism (11) are an integrally formed structure; the rigid ring (121), the rotating rigid body (122) and the flexible hinge (125) of the driving mechanism (12) are an integrally formed structure; the folding beam (112) of the clamping mechanism (11) and the rotating rigid body (122) of the driving mechanism (12) are connected, and the folding beam (112) and the rotating rigid body (122) are an integrally formed structure.

2. The piezoelectric inchworm rotating motor according to claim 1, characterized in that: The clamp body (111) is provided with a mounting hole (115), and the mounting hole (115) cooperates with the clamp pre-tightening screw (114).

3. The piezoelectric inchworm rotating motor according to claim 1, characterized in that: The rigid ring (121) is provided with a first positioning hole (126) and a second positioning hole (127); the first positioning hole (126) is provided in the radial direction of the rigid ring (121), and the second positioning hole (127) is provided in the axial direction of the rigid ring (121).

4. The piezoelectric inchworm rotary motor according to claim 1, characterized in that: The end cover (3) comprises a connecting portion (31) and a fixing portion (32), wherein the fixing portion (32) is arranged at one end of the connecting portion (31) and extends in a direction perpendicular to the connecting portion (31).

5. The piezoelectric inchworm rotary motor according to claim 1, characterized in that: The sleeve (2) is provided with a first mounting groove (21), and the first mounting groove (21) is arranged to penetrate in the axial direction of the sleeve (2).

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