Piezoelectric motor, piezoelectric motor control method, and camera module

Abstract

The present application provides a piezoelectric motor, a control method for a piezoelectric motor, and a camera module, which relate to the field of precision drive technology. The piezoelectric motor includes: a first resonant member, a second resonant member, a first excitation member, a second excitation member, a first transmission arm and a second transmission arm connected to each other; the first resonant member and the second resonant member are symmetrically arranged about a first intermediate plane; the first excitation member is arranged on the first resonant member, and when the first excitation member is loaded with an electrical signal, it can excite the first resonant member to vibrate; the second excitation member is arranged on the second resonant member, and when the second excitation member is loaded with an electrical signal, it can excite the second resonant member to vibrate; the first transmission arm is connected to the first resonant member, and the second transmission arm is connected to the second resonant member, the first transmission arm and the second transmission arm are asymmetrical about the first intermediate plane, and a first contact head is formed at the connection between the first transmission arm and the second transmission arm, and the first contact head is used to abut against the follower to drive the follower to move.

Description

Technical Field

[0001] The present application relates to the field of precision drive technology, and in particular to a piezoelectric motor, a control method for a piezoelectric motor, a camera module, and a device with a motion load. Background Art

[0002] Taking photos is a key function in mobile devices such as phones and tablets. During the photo-taking process, a drive unit drives the imaging lens assembly to achieve optical zoom, thereby magnifying or reducing the desired scene. The greater the optical zoom factor, the farther away the scene can be captured. As people's demand for photography continues to increase, a higher optical zoom factor has become a key to the future development of mobile devices. To achieve a higher optical zoom factor, the imaging lens assembly must move a greater distance.

[0003] Currently, the driving unit that drives the movement of the imaging lens assembly typically uses a voice coil motor (VCM). The VCM uses the interaction between magnetic poles in a magnetic field generated by a permanent magnetic field or a energized coil conductor to generate linear motion. That is, the VCM drives the relative movement of the imaging lens assembly to change the focal length. However, the VCM is a short-stroke linear motor, which means that the distance it can drive the imaging lens assembly to move is limited. As a result, existing short-stroke VCMs cannot achieve a larger optical zoom ratio.

[0004] like Figure 1 The diagram shows the structure of a piezoelectric motor, which includes a piezoelectric sheet 01, an elastic member 02, a protrusion 03 formed on the elastic member 02, and a follower 04 abutting against the protrusion 03. When an electrical signal is applied to the piezoelectric sheet 01, the sheet deforms, which in turn stimulates the elastic member 02 to vibrate, thereby causing the protrusion 03 to perform elliptical motion in the xz plane. The moving protrusion 03, through friction, drives the follower 04 to perform linear motion along the x-axis. When the piezoelectric motor and VCM are of comparable size, that is, when used in a very small structural space, the piezoelectric motor has a longer stroke than the VCM.

[0005] However, the amplitude of the protrusion 03 in the piezoelectric motor is still relatively small, resulting in insufficient movement speed and output of the follower 04, making it impossible to achieve rapid response over a large stroke. When the piezoelectric motor is used in a camera module, high-magnification optical zoom cannot be achieved. Summary of the Invention

[0006] The present application provides a piezoelectric motor, a control method for a piezoelectric motor, a camera module, and a device with a motion load. The main purpose is to provide a piezoelectric motor that can achieve greater output and higher speed.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In the first aspect, the present application provides a piezoelectric motor, which includes: a first resonant member, a second resonant member, a first excitation member, a second excitation member, a first transmission arm and a second transmission arm connected to each other; the first resonant member and the second resonant member are arranged symmetrically about a first middle plane; the first excitation member is arranged on the first resonant member, and the first excitation member can excite the first resonant member to vibrate when an electrical signal is loaded on the first excitation member; the second excitation member is arranged on the second resonant member, and the second excitation member can excite the second resonant member to vibrate when an electrical signal is loaded on the second excitation member; the first transmission arm is connected to the first resonant member, and the second transmission arm is connected to the second resonant member, and the first transmission arm and the second transmission arm are asymmetrically arranged about the first middle plane, and a first contact head is formed at the connection between the first transmission arm and the second transmission arm, the first contact head is used to abut against the follower, and the first excitation member and / or the second excitation member are used to rotate the first contact head through the first transmission arm and the second transmission arm during vibration, and drive the follower to move.

[0009] The piezoelectric motor provided in the present application is configured by disposing a first excitation element on a first resonant element and a second excitation element on a second resonant element, so that when an electrical signal is applied to at least one of the first excitation element and the second excitation element, the first resonant element and the second resonant element are excited to vibrate. Furthermore, because the first transmission arm and the second transmission arm are connected to the corresponding first and second resonant elements, when the first resonant element vibrates, the first transmission arm and the second transmission arm are driven to vibrate, thereby driving the first contact head to rotate. The rotating first contact head drives the follower to move through friction, and when the follower is connected to the moving load, it ultimately drives the moving load to move. Compared to the prior art, the present application adds a first transmission arm and a second transmission arm. In the process of driving the first contact head to move by the first transmission arm and the second transmission arm, the first transmission arm and the second transmission arm can increase the amount of vibration transmitted to the first contact head, thereby increasing the amplitude of the first contact head, playing a role in vibration amplification, thereby increasing the trajectory of the first contact head's rotation. In addition, the asymmetrical arrangement of the first transmission arm and the second transmission arm about the first intermediate plane further enhances the amplified vibration, thereby increasing the trajectory of the first contact head's rotation. If the trajectory of the first contact head rotation is larger, the piezoelectric motor will have greater output and speed. Therefore, compared with the existing technology, the piezoelectric motor provided in the embodiment of the present application will effectively increase the stroke of the moving load and also increase the speed of the moving load.

[0010] In a possible implementation of the first aspect, a gap is formed between the first and second resonant members, near the first and second transmission arms. In other words, a hollowed-out area is formed between the first and second resonant members, near the first and second transmission arms. This reduces the stiffness of the first and second transmission arms, further increasing the amplitude of the first and second transmission arms. This further increases the rotational trajectory of the first contact head, thereby further improving the output and speed of the piezoelectric motor.

[0011] In a possible implementation of the first aspect, it further includes: one or more first fixing parts fixed relative to the first resonant member and located at the outer edge of the first resonant member; and / or one or more second fixing parts fixed relative to the second resonant member and located at the outer edge of the second resonant member. When installing the piezoelectric motor, the piezoelectric motor needs to be fixed on a fixing object for fixing it, and the deviation of the connection position between the piezoelectric motor and the fixing object can easily affect the motion trajectory formed by the first contact head. Therefore, the present application provides a first fixing part and a second fixing part on a suitable area on the outer edge of the piezoelectric motor resonant member to facilitate the fixed installation of the piezoelectric motor, effectively reduce the difficulty of the assembly process, and suppress the vibration of the fixed area so that the vibration energy is transferred to the friction contact head, thereby improving the trajectory of the contact head.

[0012] In a possible implementation of the first aspect, the piezoelectric motor includes one or more first fixing portions and one or more second fixing portions, wherein the first fixing portions and the second fixing portions are equal in number and symmetrically arranged about the first intermediate plane. When the first fixing portions and the second fixing portions are equal in number and symmetrically arranged, the movement trajectory of the first contact in two directions is substantially identical under different excitation modes, thereby improving the performance of the piezoelectric motor.

[0013] In a possible implementation of the first aspect, the piezoelectric motor includes one or more first fixing portions and one or more second fixing portions, with the number of first fixing portions and second fixing portions being unequal. The asymmetry between the positions where the first fixing portions connect to the first resonant member and the positions where the second fixing portions connect to the second resonant member causes the first fixing portions to constrain the first resonant member differently from the second fixing portions to constrain the second resonant member. This also increases the shape of the trajectory formed by the first contact, thereby further improving the output and speed of the piezoelectric motor.

[0014] In a possible implementation of the first aspect, both the first fixing portion and the second fixing portion are flat plate-shaped structures. The fixing portion of this structure is simple in structure and occupies little space.

[0015] In a possible implementation of the first aspect, a groove is formed on an outer edge of the plate-like structure near the resonator. The groove reduces the constraint on the resonator and increases the shape of the track formed by the first contact head.

[0016] In a possible implementation of the first aspect, a length dimension of one of the first transmission arm and the second transmission arm is greater than a length dimension of the other transmission arm.

[0017] In a possible implementation of the first aspect, the first resonant member and the second resonant member are plate-shaped structures, and the surface on which the first transmission arm and the second transmission arm are located is coplanar with the surface on which the first resonant member and the second resonant member are located. This piezoelectric motor is suitable for applications where there is a large installation space on the surface on which the first and second resonant members are located.

[0018] In a possible implementation of the first aspect, the first resonant member has opposing first mounting surfaces, and the second resonant member has opposing second mounting surfaces; first excitation members are respectively disposed on the opposing first mounting surfaces, and second excitation members are respectively disposed on the opposing second mounting surfaces. Providing the first excitation members on both opposing first mounting surfaces and the second excitation members on both opposing second mounting surfaces can improve the operating performance of the piezoelectric motor.

[0019] In a possible implementation of the first aspect, the first and second resonant members are plate-shaped structures, and the first and second transmission arms protrude from the surface where the first and second resonant members are located. This type of piezoelectric motor is suitable for applications where there is a large installation space on a surface perpendicular to the first and second resonant members.

[0020] In a possible implementation of the first aspect, the first resonant component has opposing first mounting surfaces, and the second resonant component has opposing second mounting surfaces; a first excitation component is disposed on one of the opposing first mounting surfaces, and a second excitation component is disposed on one of the opposing second mounting surfaces. Providing the first excitation component on only one of the opposing first mounting surfaces and the second excitation component on only one of the opposing second mounting surfaces can improve the operating performance of the piezoelectric motor.

[0021] In a possible implementation of the first aspect, the third and fourth transmission arms are connected, the third transmission arm is connected to the first resonant member, the fourth transmission arm is connected to the second resonant member, and the third and fourth transmission arms are located on a side opposite to the first and second transmission arms; the third and fourth transmission arms are asymmetrically arranged about the first intermediate plane, a second contact head is formed at the connection between the third and fourth transmission arms, the second contact head is used to abut against the follower, and the first and second contact heads can frictionally drive the follower to move linearly. By further providing the third and fourth transmission arms, and the second contact head connected between the third and fourth transmission arms, the first and second contact heads cooperate to drive the follower to move linearly through friction.

[0022] In a possible implementation of the first aspect, the first resonant component, the second resonant component, the first transmission arm, the second transmission arm, the third transmission arm, the fourth transmission arm, the first fixing portion, and the second fixing portion are an integrated structure.

[0023] In a possible implementation of the first aspect, the first resonant member and the second resonant member are symmetrical about the second intermediate plane, and the second intermediate plane is perpendicular to the first intermediate plane. The first transmission arm and the third transmission arm are symmetrical about the second intermediate plane, and the second transmission arm and the fourth transmission arm are symmetrical about the second intermediate plane. The symmetrical arrangement of the first transmission arm and the third transmission arm, and the symmetrical arrangement of the second transmission arm and the fourth transmission arm, can ensure the stability of the linear motion of the driven member.

[0024] In a possible implementation of the first aspect, the piezoelectric motor further includes a follower, comprising a first abutting plate, a second abutting plate, and a connecting plate. The first abutting plate abuts the first contact head; the second abutting plate abuts the second contact head; and the connecting plate is connected to the first and second abutting plates. While achieving linear motion of the follower, the follower has a simple structure and occupies a small space, enabling a miniaturized design of the piezoelectric motor.

[0025] In a possible implementation of the first aspect, the piezoelectric motor also includes: a third resonant member, a fourth resonant member, an intermediate connecting portion, a third excitation member, a fourth excitation member, a fifth transmission arm and a sixth transmission arm connected to each other; the third resonant member and the fourth resonant member are arranged symmetrically about the first intermediate plane; an intermediate connecting portion, connecting the first resonant member, the second resonant member, the third resonant member and the fourth resonant member; the third excitation member is arranged on the third resonant member; the fourth excitation member is arranged on the fourth resonant member, the fifth transmission arm is connected to the third resonant member, the sixth transmission arm is connected to the fourth resonant member, the fifth transmission arm and the sixth transmission arm are asymmetrical about the first intermediate plane, and a third contact head is formed at the connection between the fifth transmission arm and the sixth transmission arm, the first contact head and the third contact head are used to abut against the follower with a rotating body structure; the connecting shaft is arranged on the intermediate connecting portion, and the axis of the connecting shaft is collinear with the axis of rotation of the follower.

[0026] By using different excitation modes of the first excitation member, the second excitation member, the third excitation member, and the fourth excitation member, the rotational motion of the driven member relative to the piezoelectric motor can be achieved, or the rotational motion of the piezoelectric motor relative to the driven member can be achieved.

[0027] In addition, the piezoelectric motor capable of driving the driven member to perform rotational motion has a simple structure and occupies a small space, thereby realizing a micro piezoelectric motor.

[0028] In a possible implementation of the first aspect, the first resonant member and the third resonant member are located on the same side of the first intermediate plane, the second resonant member and the fourth resonant member are located on the same side of the first intermediate plane, the first transmission arm and the sixth transmission arm are symmetrically arranged about the axis of the connecting shaft, and the second transmission arm and the fifth transmission arm are symmetrically arranged about the axis of the connecting shaft. The symmetrical arrangement of the first transmission arm and the sixth transmission arm, and the symmetrical arrangement of the second transmission arm and the fifth transmission arm, can ensure the stability of the rotational motion of the driven member, or the stability of the rotational motion of the piezoelectric motor.

[0029] In a possible implementation manner of the first aspect, the first resonator and the second resonator are made of conductive material, and the first resonator and the second resonator are integrally formed.

[0030] In a possible implementation of the first aspect, the first resonator and the second resonator are made of non-conductive materials, and a surface of the first resonator in contact with the first excitation member is provided with a conductive layer, and a surface of the second resonator in contact with the second excitation member is provided with a conductive layer, and the conductive layer on the first resonator and the conductive layer on the second resonator are integrally formed.

[0031] Whether the first and second resonant elements are made of conductive materials, or a conductive layer is provided on the surface of the first resonant element, or a conductive layer is provided on the second resonant element, all of these are intended to simplify the drive circuit, thereby simplifying the structure of the entire piezoelectric motor and facilitating implementation.

[0032] In a possible implementation of the first aspect, the piezoelectric motor further includes a drive circuit, the drive circuit including: a common electrical terminal, a signal generator, and a selection switch; the common electrical terminal is grounded, and when the first resonator and the second resonator are made of conductive material and are integrally formed, the common electrical terminal is electrically connected to the first and second resonators that are integrally formed; when the first and second resonators are made of non-conductive material and the conductive layer on the first resonator and the conductive layer on the second resonator are integrally formed, the common electrical terminal is electrically connected to the integral conductive layer; the selection switch has a first connection terminal and a second connection terminal, the first connection terminal is electrically connected to the signal output terminal of the signal generator, and the second connection terminal is capable of switching between being electrically connected to the first excitation element and being electrically connected to the second excitation element. The drive circuit is a switch-selection type drive circuit, suitable for applying an electrical signal to only one of the first and second excitation elements.

[0033] In a possible implementation of the first aspect, the piezoelectric motor further includes a drive circuit, comprising: a common electrical terminal, a first signal generator, and a second signal generator. The common electrical terminal is grounded. When the first resonator and the second resonator are made of a conductive material and are integrally formed, the common electrical terminal is electrically connected to the integral first and second resonators. When the first and second resonators are made of a non-conductive material and the conductive layer on the first resonator and the conductive layer on the second resonator are integrally formed, the common electrical terminal is electrically connected to the integral conductive layer. The signal output terminal of the first signal generator is electrically connected to the first excitation element; the signal output terminal of the second signal generator is electrically connected to the second excitation element. This drive circuit is an independent drive type drive circuit suitable for simultaneously applying electrical signals to the first and second excitation elements.

[0034] In a possible implementation manner of the first aspect, the first excitation element and / or the second excitation element are made of one of piezoelectric material, magnetostrictive material, and shape memory alloy.

[0035] In a possible implementation of the first aspect, the first excitation component is an excitation plate or a plurality of stacked excitation plates.

[0036] In a possible implementation of the first aspect, the second excitation component is an excitation plate or a plurality of stacked excitation plates.

[0037] In a possible implementation of the first aspect, the first resonant element is a plate-shaped structure, and the first resonant element is a plane or a curved surface. The first resonant element is a plate-shaped structure, and the second resonant element is a plane or a curved surface.

[0038] In a second aspect, the present application further provides a piezoelectric motor control method, which is applied to the piezoelectric motor in any implementation of the first aspect. The piezoelectric motor control method includes:

[0039] An electric signal is loaded onto one of the first and second excitation members, while the other excitation member is not loaded with an electric signal; alternatively, electric signals are loaded onto the first and second excitation members simultaneously, and the phases of the loaded electric signals are different; alternatively, electric signals of the same frequency are loaded onto the first and second excitation members simultaneously; the excitation member loaded with the electric signal is deformed to excite the first transmission arm and the second transmission arm to vibrate, thereby causing the first contact head to rotate and driving the follower to move.

[0040] In the control method of the piezoelectric motor provided in the present application, an electrical signal is applied to one of the first and second excitation members, or electrical signals with different phases are applied to both the first and second excitation members, or electrical signals with the same frequency are applied to both the first and second excitation members to excite the first and second resonators to vibrate. Because the first contact head in the piezoelectric motor is connected to the corresponding first and second resonators via asymmetric first and second transmission arms, the vibration amplification effect of the first and second transmission arms allows the first contact head to rotate along a larger trajectory. If the first contact head rotates along a larger trajectory, the output and speed of the piezoelectric motor can be increased.

[0041] In a possible implementation of the second aspect, when the piezoelectric motor includes one or more first fixing portions and one or more second fixing portions, the number of the first fixing portions and the second fixing portions are equal, and the first fixing portions and the second fixing portions are arranged symmetrically about the first intermediate plane, the method for controlling the piezoelectric motor includes:

[0042] An electrical signal is applied to one of the first excitation member and the second excitation member, while no electrical signal is applied to the other excitation member; or, electrical signals are applied to the first excitation member and the second excitation member at the same time, with the phases of the applied electrical signals being different.

[0043] In a possible implementation of the second aspect, when the piezoelectric motor includes one or more first fixing parts and one or more second fixing parts, and the number of the first fixing parts and the number of the second fixing parts are unequal, the method for controlling the piezoelectric motor includes:

[0044] Electrical signals with the same frequency are simultaneously applied to the first excitation element and the second excitation element.

[0045] In a possible implementation of the second aspect, when the first excitation member is loaded with an electrical signal and the second excitation member is not loaded with an electrical signal, the first contact head rotates along a first direction; when the first excitation member is not loaded with a signal and the second excitation member is loaded with a signal, the first contact head rotates along a second direction opposite to the first direction.

[0046] In a possible implementation of the second aspect, when the first excitation member and the second excitation member are simultaneously loaded with an electrical signal with a first phase difference, the first contact head rotates along a first direction; when the first excitation member and the second excitation member are simultaneously loaded with an electrical signal with a second phase difference, the first contact head rotates along a second direction opposite to the first direction, wherein the numerical value of the first phase difference and the numerical value of the second phase difference are opposite numbers.

[0047] In a possible implementation of the second aspect, when the first excitation member and the second excitation member are simultaneously loaded with an electrical signal of a first frequency, the first contact head rotates along a first direction; when the first excitation member and the second excitation member are simultaneously loaded with an electrical signal of a second frequency, the first contact head rotates along a second direction opposite to the first direction, wherein the first frequency and the second frequency are different.

[0048] In a possible implementation of the second aspect, the piezoelectric motor further includes: a third resonant member and a fourth resonant member symmetrically arranged about the first middle plane, an intermediate connecting portion, a third excitation member, a fourth excitation member, a fifth transmission arm and a sixth transmission arm connected thereto, and a connecting shaft; the intermediate connecting portion connects the first resonant member, the second resonant member, the third resonant member and the fourth resonant member; the third excitation member is arranged on the third resonant member, and when the third excitation member is loaded with an electrical signal, it can excite the third resonant member to vibrate; the fourth excitation member is arranged on the fourth resonant member, and when the fourth excitation member is loaded with an electrical signal, it can excite the fourth resonant member to vibrate; the fifth transmission arm is connected to the third resonant member, the sixth transmission arm is connected to the fourth resonant member, the fifth transmission arm and the sixth transmission arm are asymmetrical about the first middle plane, and a third contact head is formed at the connection between the fifth transmission arm and the sixth transmission arm, and the first contact head and the third contact head are used to abut against the follower with a rotating body structure; the connecting shaft is arranged on the intermediate connecting portion, and the axis of the connecting shaft is collinear with the axis of rotation of the follower.

[0049] The control method of the piezoelectric motor includes:

[0050] Electrical signals are loaded onto the first and fourth excitation members, while electrical signals are not loaded onto the second and third excitation members; the excitation members loaded with electrical signals are deformed to stimulate the first, second, fifth and sixth transmission arms to vibrate, thereby causing the first contact head and the third contact head to rotate in opposite directions, thereby driving the driven member and the piezoelectric motor to perform relative rotational motion.

[0051] In a third aspect, the present application also provides a camera module, comprising an imaging lens assembly, and the piezoelectric motor in the first aspect or any implementation of the first aspect, wherein the first contact head can drive the imaging lens assembly to move linearly by friction.

[0052] The device provided by the present application has a camera module that adopts the piezoelectric motor in any of the implementation methods of the first aspect mentioned above. Therefore, the imaging lens assembly of the camera module provided by the embodiment of the present application can achieve a larger stroke and a faster speed when driven by the piezoelectric motor. Moreover, the piezoelectric motor has a simple structure and occupies a small size, so the space occupied in the device is also small, which can realize the miniaturization design of the camera module.

[0053] In a possible implementation of the third aspect, the camera module also includes: a third transmission arm and a fourth transmission arm connected to each other, the third transmission arm is connected to the first resonant member, the fourth transmission arm is connected to the second resonant member, and the side of the third transmission arm and the fourth transmission arm is opposite to the side of the first transmission arm and the second transmission arm; the third transmission arm and the fourth transmission arm are asymmetric about the first middle plane, and a second contact head is formed at the connection between the third transmission arm and the fourth transmission arm; the first contact head and the second contact head are both in contact with the follower, and the follower is relatively fixed to the imaging lens assembly; the first fixing portion is relatively fixed to the first resonant member and is located at the outer edge of the first resonant member; the second fixing portion is relatively fixed to the second resonant member and is located at the outer edge of the second resonant member; a fixing member, the first resonant member is arranged on the fixing member through the first fixing portion, and the second resonant member is arranged on the fixing member through the second fixing portion.

[0054] In a fourth aspect, the present application also provides a device having a moving load, which includes a moving load and the piezoelectric motor in the above-mentioned first aspect or any implementation of the first aspect, and the first contact head can drive the moving load to move.

[0055] The device provided by the present application adopts the piezoelectric motor in any implementation method of the first aspect mentioned above. Therefore, the motion load provided by the embodiment of the present application can achieve a larger stroke and a faster speed when driven by the piezoelectric motor. In addition, the piezoelectric motor has a simple structure and occupies a small size, so the space occupied in the device is also small, which can realize the miniaturization design of the device.

[0056] In a possible implementation of the fourth aspect, the device with a moving load is a mobile terminal, a robot, or an optical detector. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a structural diagram of a piezoelectric motor in the prior art;

[0058] Figure 2 A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0059] Figure 3 for Figure 2 Exploded diagram;

[0060] Figure 4A schematic structural diagram of a piezoelectric motor including a driven member provided in an embodiment of the present application;

[0061] Figure 5a for Figure 4 A connection relationship diagram of the first resonant member, the second resonant member, the first transmission arm, the second transmission arm, the third transmission arm and the fourth transmission arm;

[0062] Figure 5b for Figure 4 A schematic diagram of the structure of the follower;

[0063] Figure 6a A schematic diagram of a state in which the first contact head performs elliptical motion when the first excitation member is loaded with an electrical signal and the second excitation member is not loaded with an electrical signal according to an embodiment of the present application;

[0064] Figure 6b A schematic diagram of a state in which the first contact head performs elliptical motion when the second excitation member according to an embodiment of the present application is loaded with an electrical signal and the first excitation member is not loaded with an electrical signal;

[0065] Figure 6c A schematic diagram of a state in which the first contact head performs elliptical motion when the first excitation member is loaded with a first electrical signal and the second excitation member is loaded with a second electrical signal having a phase different from the first electrical signal, provided in an embodiment of the present application;

[0066] Figure 7 An elliptical trajectory diagram of the first contact head performing elliptical motion provided in an embodiment of the present application;

[0067] Figure 8 A comparison diagram of the elliptical motion trajectory of the first contact head when the first transmission arm and the second transmission arm are asymmetric and the elliptical motion trajectory of the first contact head when the first transmission arm and the second transmission arm are symmetric provided in an embodiment of the present application;

[0068] Figure 9a A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0069] Figure 9b A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0070] Figure 9c A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0071] Figure 9d A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0072] Figure 9e A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0073] Figure 9fA schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0074] Figure 10 A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0075] Figure 11a A schematic structural diagram of a first excitation member or a second excitation member provided in an embodiment of the present application;

[0076] Figure 11b A schematic structural diagram of a first excitation member or a second excitation member provided in an embodiment of the present application;

[0077] Figure 12a A schematic diagram of the installation relationship between the first excitation member and the second excitation member provided in an embodiment of the present application;

[0078] Figure 12b A schematic diagram of the installation relationship between the first excitation member and the second excitation member provided in an embodiment of the present application;

[0079] Figure 13 A comparison diagram of the elliptical motion trajectory of the first contact head when a hollow area is provided between the first resonant element and the second resonant element according to an embodiment of the present application, and the elliptical motion trajectory of the first contact head when no hollow area is provided between the first resonant element and the second resonant element;

[0080] Figure 14 A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0081] Figure 15 for Figure 14 Another perspective of the picture;

[0082] Figure 16 A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0083] Figure 17 A schematic structural diagram of the first fixing portion or the second fixing portion provided in an embodiment of the present application;

[0084] Figure 18 A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0085] Figure 19 for Figure 18 A schematic diagram of the connection relationship between the first resonant component, the second resonant component, the third resonant component, the fourth resonant component, and the intermediate connecting portion;

[0086] Figure 20 A comparison diagram of the elliptical motion trajectory of the first contact head when the first transmission arm and the third transmission arm are symmetrical and the elliptical motion trajectory of the first contact head when the first transmission arm and the third transmission arm are asymmetrical provided in an embodiment of the present application;

[0087] Figure 21 A schematic diagram of a structure in which a conductive layer is provided on the first resonant element and the second resonant element provided in an embodiment of the present application;

[0088] Figure 22a A schematic diagram of a driving circuit for a piezoelectric motor provided in an embodiment of the present application;

[0089] Figure 22b A schematic diagram of a driving circuit for a piezoelectric motor provided in an embodiment of the present application;

[0090] Figure 23a A schematic diagram of a driving circuit for a piezoelectric motor provided in an embodiment of the present application;

[0091] Figure 23b A schematic diagram of a driving circuit for a piezoelectric motor provided in an embodiment of the present application;

[0092] Figure 24 A schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present application;

[0093] Figure 25a A schematic diagram of a driving circuit for a piezoelectric motor provided in an embodiment of the present application;

[0094] Figure 25b A schematic diagram of a driving circuit for a piezoelectric motor provided in an embodiment of the present application;

[0095] Figure 26 A diagram showing simulation results of a piezoelectric motor according to an embodiment of the present application;

[0096] Figure 27 A schematic structural diagram of the camera module provided in an embodiment of the present application.

[0097] Reference numerals:

[0098] 01-piezoelectric plate; 02-elastic member; 03-protrusion; 04-driven member; Q1-first intermediate surface; Q2-second intermediate surface; 1-first resonant member; 2-second resonant member; 3-first exciting member; 4-second exciting member; 51-first transmission arm; 52-second transmission arm; 53-third transmission arm; 54-fourth transmission arm; 55-fifth transmission arm; 56-sixth transmission arm; 61-first contact head; 62-second contact head; 63-third contact head; 71-first fixing portion; 72-second fixing portion; 701-first sub-plate; 702-second sub-plate; 8-driven member; 81-first abutting plate; 82-second abutting plate; 83-connecting plate; 9-third resonant member; 10-fourth resonant member; 11-third exciting member; 12-fourth exciting member; 13-intermediate connecting portion; 14-connecting shaft; 15-signal generator; 1 51-first signal generator; 152-second signal generator; 153-third signal generator; 154-fourth signal generator; 155-fifth signal generator; 156-sixth signal generator; 157-seventh signal generator; 158-eighth signal generator; 16-selection switch; 161-first selection switch; 162-second selection switch; 17-conductive through hole; 18-connecting line; 19-conductive layer; 20-common electrical terminal; 21-fixing part; 221-first imaging lens assembly; 222-second imaging lens assembly; 223-third imaging lens assembly; 224-fourth imaging lens assembly; 231-first piezoelectric motor; 232-second piezoelectric motor; 241-first guide shaft; 242-second guide shaft; 251-first position sensor; 252-second position sensor; 26-groove. DETAILED DESCRIPTION

[0099] In some devices with motion loads, for example, in the camera module of a mobile terminal, a driving unit is required to drive the imaging lens assembly of the camera module to move in order to achieve optical zoom. For another example, in a robot, a driving unit is required to drive the operating arm to move so that the robot can complete a certain action. For another example, in an optical detection device, a driving unit is required to drive the detection lens to move in order to magnify or reduce the object to be detected. The above only provides some devices with motion loads that need to be moved (imaging lens assembly, operating arm, detection lens are called motion loads), however, this application includes the above devices but is not limited to these devices.

[0100] With the development of technology, the travel of moving loads of mobile terminals, robots, optical detection devices and other equipment will become larger and larger, so that the performance of these devices can be further optimized.

[0101] For example, a large optical zoom can only be achieved when the stroke of the imaging lens assembly of the camera module becomes larger.

[0102] For example, when the stroke of the operating arm becomes larger, the robot can perform more complex movements.

[0103] It should be noted that the mobile terminal of the present application may be a mobile phone, a tablet computer, a wearable device, an in-vehicle system, an augmented reality (AR) device, a virtual reality (VR) device, etc. The embodiments of the present application do not impose any limitation on the specific type of the mobile terminal.

[0104] In order to make the moving load have a larger stroke, an embodiment of the present application provides a piezoelectric motor that drives the moving load to move. The piezoelectric motor can also be called a piezoelectric actuator, a piezoelectric motor, a piezoelectric drive source, etc.

[0105] Figure 2 The figure shows an assembly diagram of a piezoelectric motor. Figure 3 for Figure 2 Exploded diagram, Figure 4 The figure shows an assembly diagram of a piezoelectric motor. Figure 5a for Figure 4 Partial structure diagram.

[0106] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5a As shown, the piezoelectric motor includes a first resonant component 1 and a second resonant component 2. The positional relationship between the first resonant component 1 and the second resonant component 2 is as follows: Figure 2 The first resonator 1 and the second resonator 2 are arranged symmetrically about a first intermediate plane Q1, where the first intermediate plane Q1 refers to a reference plane located between the first resonator 1 and the second resonator 2. When the first resonator 1 and the second resonator 2 are arranged symmetrically about the first intermediate plane Q1, the distance between an end surface A1 of the first resonator 2 away from the second resonator 3 and the first intermediate plane Q1 is X1, and the distance between an end surface A2 of the second resonator 3 away from the first resonator 2 and the first intermediate plane Q1 is X2, and X1 and X2 are equal or approximately equal.

[0107] Reference Figure 5a The first resonant component 1 and the second resonant component 2 are further arranged symmetrically about the second intermediate plane Q2, wherein the second intermediate plane and the first intermediate plane are reference planes perpendicular to each other. When the first resonant component 1 and the second resonant component 2 are arranged symmetrically about the second intermediate plane Q2, the distance between the first surface of the first resonant component 2 parallel to the second intermediate plane and the second intermediate plane is X3, and the distance between the second surface of the first resonant component 2 parallel to the second intermediate plane and the second intermediate plane is X4, and X3 and X4 are equal or nearly equal.

[0108] In some embodiments, the first resonator 1 and the second resonator 2 are integrally formed. In other embodiments, the first resonator 1 and the second resonator 2 are two independent structures.

[0109] Reference Figure 2 and Figure 4 A first exciter 3 is disposed on the first resonating element 1. The first exciter can be made of a variety of materials, such as piezoelectric materials, magnetostrictive materials, and shape-memory alloys. These materials are characterized by deformation when an electrical signal is applied. Because the first exciter 3 is disposed on the first resonating element 1, deformation of the first exciter 3 can excite the first resonating element 1 to vibrate.

[0110] Reference Figure 2 and Figure 4 A second excitation element 4 is disposed on the second resonating element 2. The second excitation element can be made of a variety of materials, such as piezoelectric materials, magnetostrictive materials, and shape memory alloys. Because the second excitation element 4 is also disposed on the second resonating element 2, when an electrical signal is applied to the second excitation element 4 and the second excitation element 4 deforms, the second excitation element 4 can also excite the second resonating element 2 to vibrate.

[0111] Reference Figure 2 and Figure 4 The piezoelectric motor further includes: a first transmission arm 51 and a second transmission arm 52 connected to each other, the first transmission arm 51 being connected to the first resonant member 1, the second transmission arm 52 being connected to the second resonant member 2, the first transmission arm 51 and the second transmission arm 52 being asymmetrically arranged about the first intermediate plane Q1, a first contact head 61 being formed at the connection between the first transmission arm 51 and the second transmission arm 52, the first contact head 61 being used to abut against the follower, when one of the first excitation member and the second excitation member vibrates, the first transmission arm and the second transmission arm are passed through to rotate the first contact head, and friction drives the follower to move ( Figure 2 The follower is not shown. Figure 4 The driven member 8 is shown in FIG.

[0112] In the embodiment of the present application, the follower may be an imaging lens assembly in a camera module or an operating arm of a robot.

[0113] Since the first transmission arm 51 is connected to the first resonant component 1 , when the first resonant component 1 vibrates, the first transmission arm 51 is driven to vibrate.

[0114] Since the second transmission arm 52 is connected to the second resonant component 2 , when the second resonant component 2 vibrates, the second transmission arm 52 is driven to vibrate.

[0115] Since the first transmission arm 51 and the second transmission arm 52 are connected, when at least one of the first resonator 1 and the second resonator 2 vibrates, the first transmission arm 51 and the second transmission arm 52 are driven to vibrate.

[0116] Furthermore, because the first contact head 61 is formed at the position where the first transmission arm 51 and the second transmission arm 52 are connected, when the first transmission arm 51 and the second transmission arm 52 vibrate, the first contact head 61 is also driven to vibrate.

[0117] The excitation method provided in this application is achieved through the first excitation member 3 and the second excitation member 4. The specific excitation methods include the following four cases.

[0118] The first method is to apply an electrical signal to the first excitation element 3 and not apply an electrical signal to the second excitation element 4 .

[0119] The second method is to not apply an electrical signal to the first excitation element 3 , but to apply an electrical signal to the second excitation element 4 .

[0120] The third method is to load the first excitation element 3 with a first electrical signal, and simultaneously load the second excitation element 4 with a second electrical signal, except that the phase of the first electrical signal is different from the phase of the second electrical signal.

[0121] The fourth type: the first excitation element 3 and the second excitation element 4 are simultaneously loaded with signals of the same frequency.

[0122] In the first and second excitation methods described above, vibration can be generated in the first and second transmission arms and the first contact head using only one of the first and second excitation elements. For example, if an electrical signal is applied to the first excitation element and no electrical signal is applied to the second excitation element, the follower element moves in a first direction. If no electrical signal is applied to the first excitation element and an electrical signal is applied to the second excitation element, the follower element moves in a second direction opposite to the first direction. This allows the follower element to move in different directions.

[0123] In the third excitation method described above, for example, when the phase difference between the first and second electrical signals is 90°, the follower moves in a first direction. When the phase difference between the first and second electrical signals is -90°, the follower moves in a second direction opposite to the first direction. By varying the phase difference between the first and second electrical signals, the follower can move in different directions.

[0124] In the fourth excitation method described above, for example, when the first and second exciter components are loaded with electrical signals of the same frequency, F1, the follower component moves in a first direction. When the first and second exciter components are loaded with electrical signals of the same frequency, F2, which is different from F1, the follower component moves in a second direction opposite to the first direction. By varying the frequency of the electrical signals, the follower component can move in different directions.

[0125] The electrical signal may be a square wave signal, a sine wave signal, or a composite wave signal of other specific frequencies. This application does not limit the type of the electrical signal.

[0126] In order to enable the first resonant component to have a larger amplitude under the excitation of the first excitation component, the first resonant component is made of an elastic material, or the first resonant component is made of a metal material with a certain elasticity.

[0127] In order to enable the second resonant member to have a larger amplitude under the excitation of the second excitation member, the second resonant member is made of an elastic material, or the second resonant member is made of a metal material with a certain elasticity.

[0128] Below Figure 5a The piezoelectric motor shown in FIG. 1 introduces the working principle of the piezoelectric motor.

[0129] Figure 6a As shown, when an electrical signal is loaded on the first excitation member 3, the first excitation member 3 is in a stretched state, the second excitation member 4 is not loaded with an electrical signal, and the second excitation member 4 hardly deforms. Then, the vibration amount of the first resonant member 1 is larger than that of the second resonant member 2, and under the transmission action of the first transmission arm 51 and the second transmission arm 52, the first contact head 61 will make an elliptical motion or a circular motion close to an ellipse in the direction of the second excitation member 4 (such as the P1 direction in the figure), and then drive the follower to move in a direction consistent with the movement direction of the first contact head 61 (such as the P1 direction in the figure) through friction.

[0130] Figure 6b As shown, an electrical signal is loaded on the second excitation member 4, the second excitation member 4 is in a stretched state, the first excitation member 3 is not loaded with an electrical signal, and the first excitation member 3 hardly deforms. Then, the vibration amount of the second resonant member 4 is larger than that of the first resonant member 3, and under the transmission action of the first transmission arm 51 and the second transmission arm 52, the first contact head 61 will make an elliptical motion or a circular motion close to an ellipse in the direction of the first excitation member 3 (such as the P2 direction in the figure), and then drive the follower to move in a direction consistent with the movement direction of the first contact head 61 (such as the P2 direction in the figure) through friction.

[0131] Figure 6cAs shown, when the first excitation member 3 is loaded with a first electrical signal, the first excitation member 3 is in a stretched state, the second excitation member 4 is loaded with a second electrical signal having a phase different from that of the first electrical signal, and the second excitation member 4 is in a compressed state. Under the transmission action of the first transmission arm 51 and the second transmission arm 52, the first contact head 61 will make an elliptical motion or a circular motion close to an ellipse in the direction of the second excitation member 4 (such as the P1 direction in the figure), and then drive the follower to move in a direction consistent with the movement direction of the first contact head 61 (such as the P1 direction in the figure) through friction.

[0132] In this embodiment, the first contact head 61 is not directly connected to the first resonator 1 and the second resonator 2, but is indirectly connected via the first transmission arm 51 and the second transmission arm 52. This design produces the following technical effect: when the first resonator 1 vibrates, the amplitude is increased by the first transmission arm 51 and the second transmission arm 52, thereby increasing the amplitude of the first contact head 61. In other words, the first transmission arm 51 and the second transmission arm 52 can amplify the vibration, causing the first contact head 61 to form an elliptical motion with a larger trajectory. Therefore, compared to a structure without the first and second transmission arms, the amplitude of the first contact head is larger, which in turn increases the stroke of the follower.

[0133] Reference Figure 7 When the component of the ellipse in the force direction is longer, it indicates that the force exerted by the first contact head on the follower (that is, the force F exerted on the follower) is larger, so the follower has a larger stroke.

[0134] Reference Figure 7 When the component of the ellipse in the velocity direction is longer, it indicates that the first contact head has a larger velocity, so the follower has a larger velocity V.

[0135] Therefore, if the stroke and speed of the follower need to be further increased, the trajectory of the elliptical motion made by the first contact head needs to be further enlarged.

[0136] The first transmission arm and the second transmission arm provided in the embodiment of the present application are not symmetrically arranged, that is, the stroke and speed of the driven member are increased by the asymmetrical arrangement of the first transmission arm and the second transmission arm.

[0137] The following combined Figure 8 , a specific analysis is conducted on the technical effects produced by the asymmetric arrangement of the first transmission arm and the second transmission arm about the first middle plane compared with the symmetric arrangement.

[0138] It should be noted that: Figure 8 The solid line ellipse E1 in FIG. 1 is the motion trajectory of the first contact head when the first transmission arm and the second transmission arm are arranged asymmetrically. Figure 8The dotted ellipse E2 in FIG. 1 is the motion trajectory of the first contact head when the first transmission arm and the second transmission arm are symmetrically arranged.

[0139] Figure 8 The figure shows that the first excitation member 3 is loaded with an electric signal, the first excitation member 3 is in a stretched state, the second excitation member 4 is not loaded with an electric signal, and the second excitation member 4 is almost not deformed. Figure 8 It can be seen that when the first transmission arm and the second transmission arm are arranged asymmetrically, the major axis of the ellipse E1 of the elliptical motion of the first contact head is significantly longer than the major axis of the ellipse E2 of the elliptical motion of the first contact head when the first transmission arm and the second transmission arm are arranged symmetrically. In addition, when the first transmission arm and the second transmission arm are arranged asymmetrically, the minor axis of the ellipse E1 of the elliptical motion of the first contact head is significantly longer than the minor axis of the elliptical motion of the first contact head when the first transmission arm and the second transmission arm are arranged symmetrically.

[0140] Because the component of the ellipse in the force direction is large, it indicates that the first contact head exerts a large force on the follower. Therefore, when the first transmission arm and the second transmission arm are arranged asymmetrically, the first contact head exerts a large force on the follower, and the stroke of the follower is longer.

[0141] Because the component of the ellipse in the velocity direction is large, indicating that the velocity of the first contact head is large, when the first transmission arm and the second transmission arm are arranged asymmetrically, the velocity of the follower is faster.

[0142] Therefore, the piezoelectric motor provided in the embodiment of the present application, when having a first transmission arm and a second transmission arm, and the first transmission arm and the second transmission arm are asymmetrically arranged, can enable the driven member to have a larger stroke and a higher speed.

[0143] like Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e and Figure 9f Several piezoelectric motors are shown in which the first transmission arm and the second transmission arm are asymmetrically arranged, wherein the driven member is not shown.

[0144] Reference Figure 9a In this piezoelectric motor, the connection position between the first transmission arm 51 and the first resonator 1 is asymmetrical with respect to the first intermediate plane, as is the connection position between the second transmission arm 52 and the second resonator 2. The length D of the first transmission arm 51 is greater than the length D of the second transmission arm 52, and the width S of the first transmission arm 51 is less than the width S of the second transmission arm 52. Thus, the first transmission arm 51 and the second transmission arm 52 form an asymmetrical structure.

[0145] Reference Figure 9bIn this piezoelectric motor, the connection position between the first transmission arm 51 and the first resonator 1 and the connection position between the second transmission arm 52 and the second resonator 2 are also asymmetrical about the first intermediate plane. The length D of the first transmission arm 51 is smaller than the length D of the second transmission arm 52, and the width S of the first transmission arm 51 is larger than the width S of the second transmission arm 52. Thus, the first transmission arm 51 and the second transmission arm 52 form an asymmetrical structure.

[0146] Reference Figure 9c In this piezoelectric motor, the connection position between the first transmission arm 51 and the first resonator 1 and the connection position between the second transmission arm 52 and the second resonator 2 are also asymmetric about the first intermediate plane. The length D of the first transmission arm 51 and the length D of the second transmission arm 52 are similar, and the width S of the first transmission arm 51 is smaller than the width S of the second transmission arm 52. Thus, the first transmission arm 51 and the second transmission arm 52 form an asymmetric structure.

[0147] Reference Figure 9d In this piezoelectric motor, the connection position between the first transmission arm 51 and the first resonator 1 and the connection position between the second transmission arm 52 and the second resonator 2 are also asymmetrical about the first intermediate plane. The length D of the first transmission arm 51 is smaller than the length D of the second transmission arm 52, and the width S of the first transmission arm 51 is larger than the width S of the second transmission arm 52. Thus, the first transmission arm 51 and the second transmission arm 52 form an asymmetrical structure.

[0148] Reference Figure 9e In this piezoelectric motor, the connection position between the first transmission arm 51 and the first resonator 1 and the connection position between the second transmission arm 52 and the second resonator 2 are also asymmetric about the first intermediate plane. The length D of the first transmission arm 51 is smaller than the length D of the second transmission arm 52, and the width S of the first transmission arm 51 and the width S of the second transmission arm 52 are similar. Thus, the first transmission arm 51 and the second transmission arm 52 form an asymmetric structure.

[0149] Reference Figure 9f In this piezoelectric motor, the connection position between the first transmission arm 51 and the first resonator 1 and the connection position between the second transmission arm 52 and the second resonator 2 are also asymmetrical about the first intermediate plane. The length D of the first transmission arm 51 is smaller than the length D of the second transmission arm 52, and the width S of the first transmission arm 51 is larger than the width S of the second transmission arm 52. Thus, the first transmission arm 51 and the second transmission arm 52 form an asymmetrical structure.

[0150] The above Figures 9a to 9f Only a portion of the asymmetric first transmission arm and the second transmission arm is shown. The asymmetric first transmission arm and the second transmission arm may have many other structures, which are not listed here.

[0151] When the piezoelectric motor is used to drive the imaging lens assembly to adjust the optical focal length, since the piezoelectric motor has a large stroke, a large-magnification optical zoom can be achieved. During the zooming process, the imaging lens assembly moves at a faster speed to quickly achieve optical zoom.

[0152] When the piezoelectric motor is used to drive the operating arm of a robot, the stroke of the operating arm can be increased because the piezoelectric motor has a large stroke, and the operating arm can quickly complete a certain action.

[0153] There are two ways in which the first excitation member and the second excitation member can be implemented, which are described below respectively.

[0154] Example 1

[0155] like Figure 3 and Figure 4 As shown, the first excitation component 3 and the second excitation component 4 are two separate structural components. The first excitation component 3 is separately mounted on the first resonant component 1 , and the second excitation component 4 is separately mounted on the second resonant component 2 .

[0156] Example 2

[0157] like Figure 10 As shown, the first excitation element 3 and the second excitation element 4 are combined into one excitation element, which has two separate first and second regions. The portion located in the first region is the first excitation element 3, and the portion located in the second region is the second excitation element 4. Furthermore, the portion in the first region can be independently loaded with an electrical signal, and the portion in the second region can also be independently loaded with an electrical signal. Figure 10 The dotted line in FIG. 3 indicates that the integrated excitation component is divided into a first excitation component 3 and a second excitation component 4 .

[0158] like Figure 10 The structure shown is more suitable for simultaneously loading the same electrical signal on the first excitation element and the second excitation element, because the first excitation element 3 and the second excitation element 4 are combined into one excitation element, which simplifies the driving circuit for loading the electrical signal on the excitation element.

[0159] Reference Figure 11a , the first excitation component 3 can be an excitation plate.

[0160] Reference Figure 11b The first excitation element 3 can be a plurality of stacked excitation plates.

[0161] Reference Figure 11a , the second exciting element 4 can be an exciting plate.

[0162] Reference Figure 11b The second excitation member 4 can be a plurality of stacked excitation plates.

[0163] When a plurality of stacked excitation plates are used, the vibration amplitude of the first resonant member and the second resonant member is larger than that of a single excitation plate, which can also cause the driven member to have a larger stroke.

[0164] The connection structure between the first excitation element and the first resonator, and the connection structure between the second excitation element and the second resonator can be implemented in a variety of ways. Two embodiments are provided below to illustrate this. However, these two connection structures are not limited to the following. Furthermore, the connection structure of the first excitation element can be the same as or different from the connection structure of the second excitation element.

[0165] Example 1

[0166] The first excitation component is mounted on the first resonant component through an adhesive layer.

[0167] Example 2

[0168] The first excitation element is welded to the first resonator through a welding structure.

[0169] Compared with the welding structure, the bonding layer is convenient to connect and has a simple process. The welding structure has a greater connection strength than the bonding layer, so that the working stability of the entire piezoelectric motor is better.

[0170] There are many ways to install the first excitation component on the first resonant component and the second excitation component on the second resonant component. The installation method of the first excitation component can be the same as or different from the installation method of the second excitation component.

[0171] For example, the first excitation element and the second excitation element are both directly disposed on the surface of the corresponding first resonator and the surface of the second resonator.

[0172] For another example, refer to Figure 12a A groove 26 is formed on the first resonant component 1 , and the first exciting component 3 is located in the groove; a groove 26 is formed on the second resonant component 2 , and the second exciting component 4 is located in the groove 26 .

[0173] The installation methods include the above two embodiments, but are not limited to the above two installation methods.

[0174] It should be noted that: Figure 12b Alternatively, the groove on the first resonator 1 may pass through two opposite sides of the first resonator, and similarly, the groove on the second resonator 2 may pass through two opposite sides of the second resonator. That is, the first excitation member and the second excitation member form an embedded structure.

[0175] By providing grooves on the first resonator and the second resonator, the first excitation member and the second excitation member are installed in the grooves, thereby increasing the connection strength between the first excitation member and the first resonator, and between the second excitation member and the second resonator.

[0176] In some embodiments, reference Figure 9a 、 Figure 9c 、 Figure 9d The first excitation member and the second excitation member are planar in shape.

[0177] In some other embodiments, the first excitation member and the second excitation member may be in the shape of a curved surface.

[0178] In addition, the shape of the first excitation member and the shape of the second excitation member can be the same or different. The present application prefers that the first excitation member and the second excitation member have the same shape. Firstly, it can simplify the processing technology, and secondly, it can improve the appearance.

[0179] In a specific implementation, whether the shape of the first resonant element and the second resonant element is set to a plane or a curved surface can be determined according to the space within the setting for installing the piezoelectric motor. When the space is large, it can be set to a curved surface, and when the space is small, it can be set to a plane.

[0180] In order to further increase the elliptical trajectory formed by the first contact head, and thus further increase the stroke and speed of the follower, refer to Figure 2 、 Figure 4 and Figure 5a There is a gap between the first resonator 1 and the second resonator 2 and near the first transmission arm 51 and the second transmission arm 52. In other words, a hollow area is formed between the first resonator 1 and the second resonator 2 and near the first transmission arm 51 and the second transmission arm 52.

[0181] When a hollow area is formed between the first resonant element 1 and the second resonant element 2 and in the area close to the first transmission arm 51 and the second transmission arm 52, the stiffness of the first transmission arm 51 and the second transmission arm 52 can be reduced so that the amplitude of the first transmission arm 51 and the second transmission arm 52 is larger when vibrating. In this way, the amplitude of the first contact head 61 is also increased, and the elliptical shape formed by the first contact head is made larger, thereby ultimately increasing the stroke and speed of the follower.

[0182] The following comparative analysis is made on the technical effects of not providing a hollow area between the first resonator and the second resonator and providing a hollow area between the first resonator and the second resonator with reference to the accompanying drawings.

[0183] It should be noted that: Figure 13 The solid line ellipse E3 is when a hollow area is set between the first resonator and the second resonator ( Figure 13The movement trajectory of the first contact head is shown in the T zone. Figure 13 The dotted ellipse E4 in FIG. 1 is a movement trajectory of the first contact head when no hollow area is provided between the first resonant element and the second resonant element.

[0184] Figure 13 The figure shows that the second excitation member is loaded with an electric signal, the second excitation member is in a stretched state, the first excitation member is not loaded with an electric signal, and the first excitation member is almost not deformed. Figure 13 It can be seen that when a hollow region is provided between the first and second resonant components, the major axis of the ellipse E3 of the elliptical motion of the first contact head is significantly longer than the major axis of the ellipse E4 of the elliptical motion of the first contact head when no hollow region is provided between the first and second resonant components. Furthermore, when a hollow region is provided between the first and second resonant components, the minor axis of the ellipse E3 of the elliptical motion of the first contact head is significantly longer than the minor axis of the ellipse E4 of the elliptical motion of the first contact head when no hollow region is provided between the first and second resonant components.

[0185] Because the component of the ellipse in the force direction is large, it indicates that the first contact head exerts a large force on the follower. Therefore, when the first resonant member is provided with a hollow area, the first contact head exerts a large force on the follower, and the travel of the follower is longer.

[0186] Since the component of the ellipse in the velocity direction is large, which indicates that the velocity of the first contact head is large, when the first resonant element is provided with a hollow area, the velocity of the driven element is faster.

[0187] like Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e and Figure 9f Several shapes and sizes of the hollow areas are shown, but the present application does not limit the shapes and sizes of the hollow areas.

[0188] Because the piezoelectric motor provided by the present application adopts a patch-type structure (i.e., the first excitation member and the second excitation member are attached to the corresponding first resonant member and the second resonant member), the piezoelectric vibration is amplified by the in-plane mode of the resonant member, and the first transmission arm and the second transmission arm are used to indirectly connect the first contact head to the first resonant member and the second resonant member, and the first transmission arm and the second transmission arm are asymmetrically arranged, that is, the vibration of the asymmetric first transmission arm and the second transmission arm is amplified, and the vibration of the first contact head is further amplified by the hollow area, then the piezoelectric motor can be driven by a low voltage source, which is generally less than 3 volts. Compared with the voltage source of more than ten volts of the existing VCM and the voltage source of more than 5 volts of the existing piezoelectric motor, the voltage source of the piezoelectric motor provided by the embodiment of the present application is smaller.

[0189] It can also be understood that when the voltage source of the piezoelectric motor of the present application is equal to the voltage source of the existing piezoelectric motor, the stroke of the follower driven by the piezoelectric motor of the present application is much greater than the stroke of the follower driven by the existing piezoelectric motor.

[0190] In addition, because the piezoelectric motor provided in this application adopts a patch structure, the quality factor (which can be called Q factor) of the piezoelectric motor is low, and the frequency bandwidth of the piezoelectric motor is large, which can also improve the working performance of the piezoelectric motor.

[0191] In addition, the piezoelectric motor has a simple structure to achieve miniaturization, which can achieve high-power side output under the condition of small volume and realize high-speed and long-stroke movement of the moving load.

[0192] There are multiple connection modes between the first transmission arm, the second transmission arm, the first contact head and the first resonant component, and the second resonant component. For example, the first transmission arm, the second transmission arm, the first contact head and the first resonant component, and the second resonant component are an integrated structure. For another example, the first transmission arm, the second transmission arm, the first contact head and the first resonant component, and the second resonant component are connected by a connecting structure. The present application is preferably in one-piece molding, because when a connecting structure, such as a welding structure, is used, during the welding process, the flux process will affect the final motion trajectory of the first contact head, so an one-piece molding structure is preferred.

[0193] Since the first contact head drives the follower to move through friction, that is, when the first contact head performs elliptical motion, it will apply friction force to the follower abutting against it, and drive the follower to move through the friction force.

[0194] In order to extend the service life of the piezoelectric motor and improve the performance of the piezoelectric motor, a wear-resistant structure is provided at the position where the first contact head and the driven member abut against each other in the embodiment of the present application.

[0195] There are many ways to realize the wear-resistant structure, which are described below through several embodiments.

[0196] Example 1

[0197] A wear-resistant layer formed of a wear-resistant material is provided at a position of the first contact head abutting against the driven member.

[0198] Example 2

[0199] The first contact head is made of wear-resistant material.

[0200] Example 3

[0201] A wear-resistant layer formed of a wear-resistant material is provided at a position of the driven member abutting against the first contact head.

[0202] Example 4

[0203] A wear-resistant layer formed of a wear-resistant material is provided at a position of the first contact head abutting against the driven member, and a wear-resistant layer formed of a wear-resistant material is provided at a position of the driven member abutting against the first contact head.

[0204] The wear-resistant structure includes the four embodiments shown above, but is not limited thereto and may also be other structures.

[0205] When the wear-resistant layer formed by a wear-resistant material is selected to increase the service life of the piezoelectric motor, the wear-resistant material can be high manganese steel, high manganese alloy, ultra-high manganese alloy, chromium alloy cast iron, etc.

[0206] The arrangement positions of the first transmission arm and the second transmission arm given in the embodiment of the present application have the following two implementation modes, and each implementation mode is explained below.

[0207] Implementation Method 1

[0208] Figure 2 、 Figure 3 and Figure 4 Shown is an embodiment, as Figure 3 As shown, the first resonator 1 and the second resonator 2 are plate-shaped structures, and the surface where the first transmission arm 51 and the second transmission arm 52 are located is coplanar with the surface where the first resonator 1 and the second resonator 2 are located.

[0209] It should be noted that: the plate-like structure of the first resonant component means that the length and width of the first resonant component are much larger than the thickness of the first resonant component. Figure 4 The X-direction dimension is the length dimension of the first resonant element. Figure 4 The Y-direction dimension is the width dimension of the first resonant element. Figure 4 The dimension in the Z direction is the thickness dimension of the first resonant element.

[0210] It should be noted that the second resonant component being a plate-shaped structure means that the length and width of the second resonant component are much larger than the thickness of the second resonant component. Figure 4 The X-direction dimension is the length dimension of the second resonant element. Figure 4 The Y-direction dimension is the width dimension of the second resonant element. Figure 4 The dimension in the Z direction is the thickness dimension of the second resonant element.

[0211] In the first embodiment, the first contact head 61 performs an elliptical motion in the XY plane.

[0212] The application scenario of the first embodiment is: when the device where the piezoelectric motor needs to be installed has a large installation space in the XY plane, the piezoelectric motor of this structure can be used.

[0213] Implementation Method 2

[0214] Figure 14 and Figure 15 Another embodiment is shown. Figure 14 As shown, the first resonator 1 and the second resonator 2 are plate-shaped structures, and the first transmission arm 51 and the second transmission arm 52 protrude from the surface where the first resonator 1 and the second resonator 2 are located.

[0215] It can also be understood that the plane where the first contact head 61 is located is different from the plane where the first resonant element 1 and the second resonant element 2 are located, and the two planes are nearly parallel.

[0216] In the second embodiment, the first contact head 61 performs an elliptical motion in the XZ plane.

[0217] The application scenario of the second embodiment is: when the equipment where the piezoelectric motor needs to be installed has a large installation space in the XZ plane, the piezoelectric motor of this structure can be used.

[0218] In addition, in this embodiment, the area where the first contact head contacts the follower can be designed to be wider, that is, along the Figure 15 In the direction P shown. When the area of ​​the first contact head in contact with the follower can be designed to be wider, that is, the contact area with the follower is larger, the follower will move more stably during the movement, thereby improving the performance of the piezoelectric motor.

[0219] In the above embodiment 1, the first excitation member and the second excitation member have two layout modes. Figure 3 , the first resonator 1 has a first mounting surface ( Figure 3 The second resonant component 2 has an opposite second mounting surface, the first mounting surface is parallel to the surface where the first resonant component is located, and the second mounting surface is parallel to the surface where the second resonant component is located.

[0220] The first type: the first excitation component 3 is provided only on one of the opposite first installation surfaces, and the second excitation component 4 is provided only on one of the opposite second installation surfaces.

[0221] That is, the first excitation component is disposed on only one of the two first mounting surfaces, and the second excitation component is disposed on only one of the two second mounting surfaces.

[0222] The second type: Figure 3 As shown, first excitation components are respectively provided on the opposite first mounting surfaces; and second excitation components are respectively provided on the opposite second mounting surfaces.

[0223] The embodiment of the present application preferably adopts the second arrangement mode. The specific reasons are: Figure 2 As shown, the first contact head performs elliptical motion in the XY plane. When the first excitation member is arranged only on a first mounting surface and the second excitation member is arranged on a second mounting surface, the first resonant member and the second resonant member will have a large vibration amplitude in the Z direction, which will cause the first contact head to also have a large vibration amplitude in the Z direction, and ultimately cause the follower to shake in the Z direction.

[0224] If the piezoelectric motor is used in a camera module, it will cause the optical lens to shift in the Z direction, affecting the zoom accuracy and even the zoom performance.

[0225] However, if first excitation members are installed on both opposing first mounting surfaces, and second excitation members are provided on both opposing second mounting surfaces, the first excitation member on one first mounting surface causes the first resonant member to vibrate in the positive direction of the Z direction, while the first excitation member on the other first mounting surface causes the first resonant member to vibrate in the negative direction of the Z direction. The vibration amplitude in the positive direction of the Z direction and the vibration amplitude in the negative direction of the Z direction cancel each other out, thereby effectively reducing the vibration amplitude of the first resonant member in the Z direction. Similarly, the second excitation member on one second mounting surface causes the second resonant member to vibrate in the positive direction of the Z direction, while the second excitation member on the other second mounting surface causes the second resonant member to vibrate in the negative direction of the Z direction. The vibration amplitude in the positive direction of the Z direction and the vibration amplitude in the negative direction of the Z direction cancel each other out, thereby effectively reducing the vibration amplitude of the second resonant member in the Z direction.

[0226] In the above-mentioned second embodiment, the first excitation member and the second excitation member are arranged in two ways.

[0227] The first one: Figure 14 As shown, the first excitation element 3 is provided on only one of the opposite first installation surfaces, and the second excitation element 4 is provided on only one of the opposite second installation surfaces.

[0228] That is, the first excitation component is disposed on only one of the two first mounting surfaces, and the second excitation component is disposed on only one of the two second mounting surfaces.

[0229] The second type: first excitation components are respectively provided on the opposite first mounting surfaces; and second excitation components are respectively provided on the opposite second mounting surfaces.

[0230] The embodiment of the present application preferably adopts the first arrangement mode. The specific reasons are: Figure 14As shown, the first contact head performs elliptical motion in the XZ plane. If first excitation members are installed on the opposite first mounting surfaces, and second excitation members are installed on the opposite second mounting surfaces, the first excitation member on one first mounting surface causes the first resonant member to vibrate in the positive Z direction, and the first excitation member on the other first mounting surface causes the first resonant member to vibrate in the negative Z direction. The vibration amplitude in the positive Z direction and the vibration amplitude in the negative Z direction offset each other, effectively reducing the vibration amplitude of the first resonant member in the Z direction. Similarly, the second excitation member on one second mounting surface causes the second resonant member to vibrate in the positive Z direction, and the second excitation member on the other second mounting surface causes the second resonant member to vibrate in the negative Z direction. The vibration amplitude in the positive Z direction and the vibration amplitude in the negative Z direction offset each other, effectively reducing the vibration amplitude of the second resonant member in the Z direction.

[0231] However, the difference between this second embodiment and the first embodiment is that this embodiment requires vibration in the Z direction. If the vibration of the first resonant member in the Z direction is offset by the vibration of the second resonant member in the Z direction, the vibration of the first contact head in the Z direction will be effectively weakened, thereby reducing the size of the ellipse formed by the first contact head and reducing the stroke and speed of the follower. Therefore, the second embodiment requires only one first mounting surface to be provided with the first excitation member, and only one second mounting surface to be provided with the second excitation member.

[0232] In specific implementation, during the installation of the piezoelectric motor, the requirements for the connection position between the piezoelectric motor and other structures are relatively high, because the deviation of the connection position has a great impact on the stroke and speed of the piezoelectric motor.

[0233] In order to reduce the difficulty of the installation process and avoid the phenomenon that the movement trajectory of the first contact head after installation has a large deviation from the preset movement trajectory, the piezoelectric motor provided in this application is provided with a fixing portion, referring to Figure 4 The fixing portion includes a first fixing portion 71 and / or a second fixing portion 72 . The first fixing portion 71 is fixed relative to the first resonant component 1 , and the second fixing portion 72 is fixed relative to the second resonant component 2 .

[0234] That is, it may include only the first fixing portion 71 , only the second fixing portion 72 , or both the first fixing portion 71 and the second fixing portion 72 .

[0235] The first fixing portion 71 provided in the embodiment of the present application is located at the outer edge of the first resonant component 1. Compared with setting the first fixing portion in the middle of the first resonant component, the advantage is that when the size of the first resonant component of the piezoelectric motor is in the millimeter level, if the first fixing portion is set in the middle of the first resonant component, the processing technology requirements are very high. Mainly, the output power of the piezoelectric motor is related to the area of ​​the first resonant component. The first fixing portion set in the middle of the first resonant component will reduce the output power of the piezoelectric motor. The present application sets the first fixing portion at the outer edge of the first resonant component, which reduces the processing technology and does not affect the output power. In addition, the installation technology requirements for the piezoelectric motor are not very high. In addition, the present application sets the first fixing portion at a suitable position on the outer edge of the first resonant component, which can suppress the vibration of the outer edge to a certain extent, making it easier for the resonator to excite a working mode that is easy to contact the elliptical motion.

[0236] The second fixing portion 72 provided in the embodiment of the present application is located at the outer edge of the second resonant element 2. The advantage of locating the second fixing portion at the outer edge of the second resonant element is the same as the advantage of arranging the first fixing portion at the outer edge of the first resonant element.

[0237] The present application does not limit the position where the first fixing portion is arranged at the outer edge of the first resonant component and the position where the second fixing portion is arranged at the outer edge of the second resonant component. Several arrangement positions are given below.

[0238] Reference Figure 9a In the piezoelectric motor, the setting position of the first fixing part 71 and the setting position of the second fixing part 72 are opposite to the positions of the first transmission arm 51 and the second transmission arm 52, and the first fixing part 71 and the second fixing part 72 are connected together.

[0239] Reference Figure 9b In the piezoelectric motor, the setting position of the first fixing part 71 and the setting position of the second fixing part 72 are opposite to the positions of the first transmission arm 51 and the second transmission arm 52, and the first fixing part 71 and the second fixing part 72 are separated.

[0240] Reference Figure 9c In the piezoelectric motor, the first fixing portion 71 and the second fixing portion 72 are located between the first excitation member 3 and the second excitation member 4 .

[0241] Reference Figure 9d In the piezoelectric motor, the first fixing portion 71 is provided on a side of the first resonant component away from the second resonant component, and the second fixing portion 72 is provided on a side of the second resonant component away from the first resonant component.

[0242] Reference Figure 9eIn the piezoelectric motor, the first fixing portion 71 is arranged on a side of the first resonator away from the second resonator, the second fixing portion 72 is arranged on a side of the second resonator away from the first resonator, and the number of the second fixing portions is two.

[0243] In order to further increase the elliptical trajectory formed by the first contact head and further increase the stroke and speed of the follower, the first fixing portion and the second fixing portion may adopt the following two embodiments.

[0244] Example 1

[0245] Reference Figure 9e , the number of the first fixing parts and the number of the second fixing parts are not equal.

[0246] When the number of the first fixed part and the second fixed part is not equal, since the first fixed part is connected to the first resonant member and the second fixed part is connected to the second resonant member, the constraint of the first fixed part on the first resonant member and the constraint of the second fixed part on the second resonant member are different, so that the vibration constraint of the part of the first resonant member located at the first resonant member during vibration and the vibration constraint of the part of the first resonant member located at the second resonant member during vibration are different, so that the vibration constraint of the first resonant member and the vibration constraint of the second resonant member are asymmetric. Compared with the symmetric vibration constraint, the vibration can be weakened by each other. The piezoelectric motor with asymmetric vibration constraint provided in the embodiment of the present application can make the ellipse formed by the first contact head larger, so as to further increase the stroke and speed of the follower.

[0247] For example, Figure 9e There is one first fixing portion and two second fixing portions. Compared with one first fixing portion, the two second fixing portions can constrain the vibration of the first resonator more.

[0248] Example 2

[0249] Reference Figure 9f The first position where the first fixing portion 71 is connected to the first resonant component and the second position where the second fixing portion 72 is connected to the second resonant component are asymmetric with respect to the first intermediate plane (the Q1 plane in the figure).

[0250] It should be noted that the first intermediate surface here and the first intermediate surface mentioned above are one surface, and the first intermediate surface will not be explained here.

[0251] When the setting position of the first fixed part and the setting position of the second fixed part are asymmetrically set with respect to the first middle plane, the constraint of the first fixed part on the first resonant member and the constraint of the second fixed part on the second resonant member are different, so that the vibration constraint of the part of the first resonant member located at the first resonant member during vibration and the vibration constraint of the part of the first resonant member located at the second resonant member during vibration are different, so that the vibration constraint of the first resonant member and the vibration constraint of the second resonant member are asymmetrical. Compared with the symmetrical vibration constraint, the vibration can be weakened by each other. The piezoelectric motor with asymmetrical vibration constraint provided in the embodiment of the present application can form a larger ellipse with the first contact head to further increase the stroke and speed of the follower.

[0252] The structure of the first fixing portion can be in various forms, and the structure of the second fixing portion can also be in various forms. The structure of the first fixing portion can be the same as or different from that of the second fixing portion.

[0253] Several different structures of the first fixing portion and the second fixing portion are listed below.

[0254] Reference Figure 9b 、 Figure 9d and Figure 9f The first fixing portion and the second fixing portion have the same structure and are both formed by a flat plate.

[0255] Reference Figure 17 The first fixing portion and the second fixing portion have the same structure and are both formed by a flat plate, and the outer edge of the flat plate near the resonant element has a groove. Alternatively, the first fixing portion 71 includes a first sub-plate 701 and a second sub-plate 702 connected to the first sub-plate 701, wherein the first sub-plate 701 is connected to the first resonant element 1 or the second resonant element 2, and the area of ​​the first sub-plate 701 is smaller than the area of ​​the second sub-plate 702.

[0256] The area of ​​the first sub-plate 701 connected to the first resonant element is designed to be smaller than the area of ​​the second sub-plate 702. The advantage of this design is that compared with directly connecting the second sub-plate with a larger area to the first resonant element, the first sub-plate has a smaller area, which also leads to a smaller area connected to the first resonant element, thereby reducing the constraints on the first resonant element, further increasing the elliptical trajectory formed by the first contact head, and further increasing the stroke and speed of the follower.

[0257] Furthermore, when the piezoelectric motor is fixed to another structure via the first fixing portion and the second fixing portion, the fixing portion may be connected to the other structure via an adhesive structure, a fixing member, or a clamping structure. Of course, other structural connections are also possible.

[0258] The first contact head frictionally drives the follower to achieve linear motion or rotational motion. The specific motion mode of the follower is determined by the structure of the first resonant member and the structure of the follower.

[0259] Two embodiments are given below. The first embodiment is the structure of the first resonant member and the driven member when the motion trajectory of the driven member is linear motion. The second embodiment is the structure of the first resonant member and the driven member when the motion trajectory of the driven member is rotational motion.

[0260] First implementation method

[0261] Reference Figure 4 and Figure 5a ,as well as Figure 16 In addition to the first resonator 1 , the second resonator 2 , the first transmission arm 51 , the second transmission arm 52 , and the first contact 61 , the piezoelectric motor also includes: a third transmission arm 53 , the fourth transmission arm 54 , and a second contact head 62 .

[0262] The third transmission arm 53 and the fourth transmission arm 54 are connected, and the side where the third transmission arm 53 and the fourth transmission arm 54 are located is opposite to the side where the first transmission arm 51 and the second transmission arm 52 are located. The third transmission arm 53 is connected to the first resonator 1, and the fourth transmission arm 54 is connected to the second resonator 2. A second contact head 62 is formed at the connection between the third transmission arm 53 and the fourth transmission arm 54, and the second contact head 62 abuts against the follower 8.

[0263] Reference Figure 5b The follower 8 includes: a first abutting plate 81, a second abutting plate 82 and a connecting plate 83, the first abutting plate 81 abuts against the first contact head 61; the second abutting plate 82 abuts against the second contact head 62; the connecting plate 83 is connected to the first abutting plate 81 and the second abutting plate 82.

[0264] The working principle of the piezoelectric motor is as follows: when the first excitation member is loaded with an electrical signal, the first excitation member is in a stretched state, and the second excitation member is not loaded with an electrical signal, and the second excitation member is almost not deformed, then the vibration amount of the first resonant member is larger than that of the second resonant member, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will move toward the direction of the second excitation member (such as Figure 6a At the same time, under the transmission action of the third transmission arm and the fourth transmission arm, the second contact head will also move in the direction of the second excitation member (such as Figure 6a The P1 direction) makes an elliptical motion with an elliptical trajectory, and then drives the follower to move in the same direction as the first contact head and the second contact head through the friction transmission between the first contact head and the first abutment plate, and the friction transmission between the second contact head and the second abutment plate (such as Figure 6aP1 direction) to make linear motion.

[0265] On the contrary, when the follower needs to move linearly in the direction P2 opposite to the direction P1, the working principle of the piezoelectric motor is as follows: when the second exciting member is loaded with an electrical signal, the second exciting member is in a stretched state, the first exciting member is not loaded with an electrical signal, and the first exciting member is hardly deformed, then the vibration amount of the second resonant member is larger than that of the first resonant member, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will move in the direction of the first exciting member (making an elliptical motion with an elliptical trajectory. At the same time, under the transmission action of the third transmission arm and the fourth transmission arm, the second contact head will also make an elliptical motion in the direction of the first exciting member with an elliptical trajectory. Then, through the friction transmission between the first contact head and the first abutment plate, and the friction transmission between the second contact head and the second abutment plate, the follower is driven to make a linear motion in the direction consistent with the movement direction of the first contact head and the second contact head.

[0266] The working principle of the piezoelectric motor can also be as follows: when the first excitation member is loaded with a first electrical signal, the first excitation member is in a stretched state, and when the second excitation member is loaded with a second electrical signal, the second excitation member is in a compressed state, and the phase difference between the first electrical signal and the second electrical signal is 90°. Then, the vibration amount of the first resonant member is greater than that of the second resonant member, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will perform an elliptical motion with an elliptical trajectory toward the direction of the second excitation member. At the same time, under the transmission action of the third transmission arm and the fourth transmission arm, the second contact head will also perform an elliptical motion with an elliptical trajectory toward the direction of the second excitation member, and then, through the friction transmission between the first contact head and the first abutment plate, and the friction transmission between the second contact head and the second abutment plate, the driven member is driven to perform linear motion in the direction consistent with the movement direction of the first contact head and the second contact head.

[0267] Conversely, when the follower needs to move linearly in the P2 direction, which is opposite to the P1 direction, the operating principle of the piezoelectric motor is as follows: when the first electrical signal is applied to the second excitation member, the first excitation member is in a stretched state; when the second electrical signal is applied to the first excitation member, the first excitation member is in a compressed state, and the phase difference between the first electrical signal and the second electrical signal is -90°. The vibration amount of the first resonant member is smaller than that of the second resonant member, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will perform elliptical motion with an elliptical trajectory toward the direction of the first excitation member. At the same time, under the transmission action of the third transmission arm and the fourth transmission arm, the second contact head will also perform elliptical motion with an elliptical trajectory toward the direction of the first excitation member. Then, through the friction transmission between the first contact head and the first abutment plate, and the friction transmission between the second contact head and the second abutment plate, the follower is driven to perform linear motion in the direction consistent with the movement directions of the first and second contact heads.

[0268] The working principle of the piezoelectric motor can also be: when the first electric signal is loaded on the first excitation member and the second excitation member at the same time, and the frequency of the first electric signal is F1, the first excitation member and the second excitation member are both in a stretched state, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will make an elliptical motion with an elliptical trajectory toward the direction of the second excitation member. At the same time, under the transmission action of the third transmission arm and the fourth transmission arm, the second contact head will also make an elliptical motion with an elliptical trajectory toward the direction of the second excitation member, and then through the friction transmission between the first contact head and the first abutment plate, and the friction transmission between the second contact head and the second abutment plate, the follower is driven to make a linear motion in the direction consistent with the movement direction of the first contact head and the second contact head.

[0269] On the contrary, when the follower needs to move linearly in the direction P2 opposite to the direction P1, the working principle of the piezoelectric motor is: when the first exciting member and the second exciting member are loaded with the first electrical signal at the same time, and the frequency of the first electrical signal is F2 which is different from F1, the first exciting member and the second exciting member are both in a stretched state, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will make an elliptical motion with an elliptical trajectory toward the direction of the first exciting member. At the same time, under the transmission action of the third transmission arm and the fourth transmission arm, the second contact head will also make an elliptical motion with an elliptical trajectory toward the direction of the first exciting member, and then through the friction transmission between the first contact head and the first abutment plate, and the friction transmission between the second contact head and the second abutment plate, the follower is driven to make a linear motion in the direction consistent with the movement direction of the first contact head and the second contact head.

[0270] It should be noted that the follower can be of other structures, including Figure 4 The structure shown is, but not limited to, this structure.

[0271] The first embodiment can be applied in a camera module. The imaging lens assembly of the camera module serves as a moving load and is relatively fixed to the follower. When the follower moves linearly, it can drive the imaging lens assembly to move linearly to achieve optical zoom.

[0272] Second implementation method

[0273] Reference Figure 18 and Figure 19 In addition to the first resonator 1, the second resonator 2, the first transmission arm 51 and the second transmission arm 52, and the first contact 61, the piezoelectric motor also includes: a third resonator 9, a fourth resonator 10, an intermediate connecting part 13, a third excitation member 11, a fourth excitation member 12, a fifth transmission arm 55 and a sixth transmission arm 56, and a connecting shaft 14.

[0274] Reference Figure 19 , the third resonant element 9 and the fourth resonant element 10 are about the first intermediate plane ( Figure 19The Q1 surface is arranged symmetrically.

[0275] Reference Figure 18 The intermediate connecting portion 11 connects the first resonant component 1 , the second resonant component 2 , the third resonant component 9 and the fourth resonant component 10 .

[0276] Reference Figure 18 and Figure 19 The third excitation member 11 is provided on the third resonant member 9. When an electrical signal is applied to the third excitation member 11, the third resonant member 9 can be excited to vibrate. The fourth excitation member 12 is provided on the fourth resonant member 10. When an electrical signal is applied to the fourth excitation member 12, the fourth resonant member 10 can be excited to vibrate.

[0277] Reference Figure 19 The fifth transmission arm 55 and the sixth transmission arm 56 are connected, the fifth transmission arm 55 is connected to the third resonant member 9, the sixth transmission arm 56 is connected to the fourth resonant member 10, the fifth transmission arm 55 and the sixth transmission arm 56 are asymmetric about the first middle plane, and a third contact head 63 is formed at the connection between the fifth transmission arm 55 and the sixth transmission arm 56, and the third contact head 63 abuts against the follower 8.

[0278] Reference Figure 19 , the connecting shaft 14 is arranged on the middle connecting part 13 .

[0279] Reference Figure 18 , the driven member 8 is a rotating body structure, and the rotation axis of the driven member 8 is collinear with the axis of the connecting shaft 14. Figure 18 The first resonant component 1 and the third resonant component 9 are located on the same side of the first intermediate plane, and the second resonant component 2 and the fourth resonant component 10 are located on the same side of the first intermediate plane.

[0280] The working principle of the piezoelectric motor is as follows: when the first excitation member and the fourth excitation member are loaded with electrical signals at the same time, the first excitation member is in a stretched state and the fourth excitation member is in a stretched state; the second excitation member and the third excitation member are not loaded with electrical signals, and the second excitation member and the third excitation member are hardly deformed. Since the first excitation member is deformed and the second excitation member is hardly deformed, the vibration amount of the first resonant member is larger than that of the second resonant member, and under the transmission action of the first transmission arm and the second transmission arm, the first contact head will perform an elliptical motion with an elliptical trajectory toward the direction of the second excitation member. Since the fourth excitation member is deformed and the third excitation member is not deformed, the vibration amount of the fourth resonant member is larger than that of the third resonant member, and under the transmission action of the fifth transmission arm and the sixth transmission arm, the third contact head will perform an elliptical motion with an elliptical trajectory toward the direction of the third excitation member.

[0281] The working principle of the piezoelectric motor can also be: when the third electrical signal is loaded on the first excitation member and the fourth excitation member at the same time, the first excitation member is in a stretched state and the fourth excitation member is in a stretched state; when the second excitation member and the third excitation member are loaded with the fourth electrical signal, the second excitation member is in a compressed state and the third excitation member is in a compressed state. The phase difference between the third electrical signal and the fourth electrical signal is -90°. Since the first excitation member is stretched and the second excitation member is compressed, under the transmission action of the first transmission arm and the second transmission arm, the first contact head will make an elliptical motion with an elliptical trajectory toward the direction of the second excitation member. Since the fourth excitation member is stretched and the third excitation member is compressed, under the transmission action of the fifth transmission arm and the sixth transmission arm, the third contact head will make an elliptical motion with an elliptical trajectory toward the direction of the third excitation member.

[0282] Reference Figure 18 When the driven member 8 is fixed, the piezoelectric motor can rotate relative to the driven member 8 around the connecting shaft 14.

[0283] Reference Figure 18 When the piezoelectric motor is fixed, the driven member 8 can rotate around the connecting shaft 14 relative to the piezoelectric motor.

[0284] This second embodiment can be applied in a robot. The robot's operating arm serves as a moving load and is relatively fixed to the follower. When the follower rotates, it can drive the operating arm to rotate, so that the operating arm can complete the rotation movement.

[0285] It should be noted that the driven member is a rotating body structure, for example, it can be a ring, a spherical shell, a cylindrical shell, etc.

[0286] In the first embodiment described above, referring to Figure 5a The first transmission arm 51 and the third transmission arm 53 are symmetrical about the second middle plane, and the second transmission arm 52 and the fourth transmission arm 54 are symmetrical about the second middle plane. The symmetrical arrangement of the first and third transmission arms, as well as the symmetrical arrangement of the second and fourth transmission arms, improves the stability of the linear motion of the driven member.

[0287] Figure 5a The position of the second intermediate surface is shown. Figure 5a Q2 surface) and the first intermediate surface ( Figure 5a perpendicular to the Q1 surface).

[0288] The following comparative analysis is made on the technical effects produced by the symmetrical arrangement of the first transmission arm and the third transmission arm, and the symmetrical arrangement of the second transmission arm and the fourth transmission arm.

[0289] The following analysis will be made by applying an electrical signal to the second excitation element and not applying an electrical signal to the first excitation element.

[0290] Figure 20 The figure shows that when the second excitation member is loaded with an electric signal, the second excitation member is in a stretched state, and when the first excitation member is not loaded with an electric signal, the first excitation member hardly deforms. Figure 20 It can be seen that when the first transmission arm and the third transmission arm are arranged asymmetrically and the second transmission arm and the fourth transmission arm are arranged asymmetrically, the ellipse E5 of the elliptical motion made by the first contact head 51 is different from the elliptical motion E6 of the second contact head 52 or the difference is large.

[0291] When the ellipse E5 of the elliptical motion made by the first contact head is different from the elliptical motion E6 of the second contact head, it is impossible to ensure that the friction force of the first contact head on the first abutment plate is equal to the friction force of the second contact head on the second abutment plate, and then the motion trajectory of the follower may be distorted, and ultimately the stability of the follower in linear motion cannot be guaranteed.

[0292] In the second embodiment described above, referring to Figure 19 The first transmission arm 51 and the sixth transmission arm 56 are symmetrically arranged about the axis of the connecting shaft 14, and the second transmission arm 52 and the fifth transmission arm 55 are symmetrically arranged about the axis of the connecting shaft 14. The symmetrical arrangement of the first transmission arm and the sixth transmission arm, as well as the symmetrical arrangement of the second transmission arm and the fifth transmission arm, improves the stability of the rotational motion of the driven member.

[0293] The following comparative analysis is made on the technical effects produced by the symmetrical arrangement of the first transmission arm and the sixth transmission arm, and the symmetrical arrangement of the second transmission arm and the fifth transmission arm.

[0294] The following analysis and description will be made by applying electrical signals to the first and fourth excitation members, while no electrical signals are applied to the second and third excitation members.

[0295] When the first and fourth excitation members are loaded with electrical signals and are in a stretched state, and when the second and third excitation members are not loaded with electrical signals, the second and third excitation members do not deform. When the first transmission arm and the sixth transmission arm are asymmetrically arranged, and the second transmission arm and the fifth transmission arm are asymmetrically arranged, the ellipse of the elliptical motion of the first contact head and the elliptical motion of the third contact head are different or significantly different.

[0296] When the ellipse of the elliptical motion made by the first contact head is different from the elliptical motion made by the third contact head, it is impossible to ensure that the friction force of the first contact head on the follower is equal to the friction force of the third contact head on the follower, and then the motion trajectory of the follower may be distorted, and ultimately the stability of the rotational motion of the follower cannot be guaranteed.

[0297] In specific implementation, a driving circuit is required to apply electrical signals to the first and second excitation components. To simplify the driving circuit and facilitate implementation, the first resonant component and the second resonant component have the following two different embodiments.

[0298] Example 1

[0299] The first resonator and the second resonator are made of conductive material, and the first resonator and the second resonator are integrally formed.

[0300] When the first resonant member is made of a conductive material, the first excitation member is arranged on the first resonant member, the second resonant member is made of a conductive material and is integrally formed with the first resonant member, the second excitation member is arranged on the second resonant member, and the first excitation member and the second excitation member are made of piezoelectric material, magnetostrictive material or shape memory alloy, so that the first excitation member and the second excitation member, as well as the first resonant member and the second resonant member can achieve electrical conduction.

[0301] Example 2

[0302] Reference Figure 21 The first resonator and the second resonator are made of non-conductive materials. A conductive layer 19 is provided on the surface of the first resonator that contacts the first excitation member, and a conductive layer 19 is provided on the surface of the second resonator that contacts the second excitation member. The conductive layer 19 on the first resonator and the conductive layer 19 on the second resonator are integrally formed. In other words, electrical conduction between the first and second excitation members, as well as between the first and second resonators, is achieved through the conductive layers.

[0303] Two types of drive circuits are listed below.

[0304] The first

[0305] Reference Figure 22a and Figure 22b The driving circuit includes: a signal generator 15, a selection switch 16 and a common electrical terminal 20; the selection switch 16 has a first connection terminal and a second connection terminal, the first connection terminal is electrically connected to the signal output terminal of the signal generator 15, and the second connection terminal can be switched between being electrically connected to the first excitation component 3 and being electrically connected to the second excitation component 4.

[0306] In the case where the first resonator 1 and the second resonator 2 are made of conductive material and are integrally formed, the common electrical terminal 20 is electrically connected to the first resonator 1 and the second resonator 2 that are integrally formed.

[0307] When the first resonator 1 and the second resonator 2 are made of non-conductive materials and the conductive layer on the first resonator 1 and the conductive layer on the second resonator 2 are integrally formed, the common electrical terminal 20 is electrically connected to the integral conductive layer.

[0308] Figure 22aThe selector switch 16 shown is electrically connected to the first exciter 3 .

[0309] Figure 22b The selector switch 16 shown is electrically connected to the second exciter 4 .

[0310] The second

[0311] Reference Figure 23a and Figure 23b The driving circuit includes: a first signal generator 151, a second signal generator 152 and a common electrical terminal 20, the signal output terminal of the first signal generator 151 is electrically connected to the first excitation component 3; the signal output terminal of the second signal generator 152 is electrically connected to the second excitation component 4.

[0312] In the case where the first resonator 1 and the second resonator 2 are made of conductive material and are integrally formed, the common electrical terminal 20 is electrically connected to the first resonator 1 and the second resonator 2 that are integrally formed.

[0313] When the first resonator 1 and the second resonator 2 are made of non-conductive materials and the conductive layer on the first resonator 1 and the conductive layer on the second resonator 2 are integrally formed, the common electrical terminal 20 is electrically connected to the integral conductive layer.

[0314] The first and second drive circuits share the same point: by providing a common electrical terminal on the first resonator for grounding, this simplifies the circuit and facilitates implementation, compared to grounding the first excitation element 3 and the second excitation element 4 separately.

[0315] The difference between the first driving circuit and the second driving circuit mentioned above is that the first driving circuit, that is, the switch selection driving circuit, adopts a signal generator and a selection switch to realize whether to load the electrical signal to the first excitation component or the second excitation component, that is, the electrical signal can only be loaded to one of the first excitation component and the second excitation component.

[0316] The switch-selective drive circuit is applicable to scenarios where the first excitation element is loaded with an electrical signal and the second excitation element is not loaded with an electrical signal, or the first excitation element is not loaded with an electrical signal and the second excitation element is loaded with an electrical signal.

[0317] The second type of drive circuit, an independent drive type, uses a first signal generator and a second signal generator. The first signal generator applies an electrical signal to the first excitation element, and the second signal generator applies an electrical signal to the second excitation element. In other words, the first and second excitation elements can be applied with electrical signals simultaneously.

[0318] This independent drive circuit is suitable for scenarios where a first excitation element is loaded with a first electrical signal, while a second excitation element is loaded with a second electrical signal different from the first. Alternatively, the first excitation element is loaded with an electrical signal, while the second excitation element is not loaded with an electrical signal. Alternatively, the first excitation element is not loaded with an electrical signal, while the second excitation element is loaded with an electrical signal.

[0319] Figure 22a and Figure 23a An embodiment of grounding the common electrical terminal 20 is shown, that is, the common electrical terminal 20 is connected to the ground terminal of the signal generator itself using a connecting wire 18 to achieve grounding.

[0320] Figure 22b and Figure 23b Another embodiment of grounding the common electrical terminal 20 is shown, that is, the common electrical terminal 20 is directly grounded.

[0321] Reference Figure 9b and Figure 9c If the first resonant component and the second resonant component are separated, the method of setting a common electrical terminal on the first resonant component is:

[0322] The first transmission arm, the first contact head and the second transmission arm are made of conductive materials, and the first resonator and the second resonator are also made of conductive materials, so that electrical conduction between the first excitation member and the second excitation member, and the first resonator and the second resonator can be achieved.

[0323] Reference Figure 22a and Figure 22a When first excitation components are provided on two opposite sides of the first resonator, the two opposite first excitation components have two electrical connection modes.

[0324] The first

[0325] The two opposite first excitation members 3 are electrically connected by a connecting wire.

[0326] The second

[0327] Reference Figure 24 Conductive through holes 17 are provided on the two opposing first excitation members 3, and conductive through holes communicating with the conductive through holes on the first excitation members 3 are also provided on the first resonator 1. That is, the electrical connection between the two opposing first excitation members is achieved through the conductive through holes.

[0328] The two opposite second excitation components have two electrical connection modes.

[0329] The first

[0330] The two opposite second excitation members 4 are electrically connected using a connecting wire.

[0331] The second

[0332] Reference Figure 24 Conductive through holes 17 are provided on the two opposing second excitation members 4, and conductive through holes are also provided on the second resonator 2 to communicate with the conductive through holes on the second excitation members 4. That is, the electrical connection between the two opposing second excitation members is achieved through the conductive through holes.

[0333] When the piezoelectric motor is Figure 18 and Figure 19 In the structure shown, the first resonant element and the second resonant element, the third resonant element and the fourth resonant element, and the intermediate connecting portion have the following four different embodiments.

[0334] Example 1

[0335] The first resonant component and the second resonant component, the third resonant component and the fourth resonant component are all made of conductive materials, and the intermediate connecting portion is also made of conductive materials.

[0336] Example 2

[0337] A first conductive layer is provided on a surface of the first resonator in contact with the first excitation member, and a second conductive layer is provided on a surface of the second resonator in contact with the second excitation member.

[0338] A third conductive layer is provided on a surface of the third resonator in contact with the third excitation element, and a fourth conductive layer is provided on a surface of the fourth resonator in contact with the fourth excitation element.

[0339] The surface of the middle connecting portion is provided with a fifth conductive layer, a first conductive layer, a second conductive layer, a third conductive layer and a fourth conductive layer, and forms an integral structure with the fifth conductive layer.

[0340] Example 3

[0341] A first conductive layer is provided on the surface of the first resonator in contact with the first excitation member, and a second conductive layer is provided on the surface of the first resonator in contact with the second excitation member, and the first conductive layer and the second conductive layer are in an integrated structure.

[0342] The surface of the second resonator in contact with the third excitation member is provided with a third conductive layer, and the surface of the second resonator in contact with the fourth excitation member is provided with a fourth conductive layer, and the third conductive layer and the fourth conductive layer are in an integrated structure.

[0343] The middle connecting part is made of conductive material, and the first conductive layer and the second conductive layer, the third conductive layer and the fourth conductive layer are connected to the middle connecting part.

[0344] Figure 18 and Figure 19 The driving circuit of the piezoelectric motor shown can be a switch-selectable driving circuit or an independent driving circuit.

[0345] When the drive circuit is a switch selection type drive circuit, refer to Figure 25a The driving circuit includes: a third signal generator 153, a fourth signal generator 154, and a common electrical terminal, which is grounded, a first selection switch 161, and a second selection switch 162. The common electrical terminal 20 is electrically connected to the first resonant element, the second resonant element, the third resonant element, and the fourth resonant element, which are electrically connected together. The first selection switch 161 has a first connection terminal and a second connection terminal. The first connection terminal of the first selection switch 161 is electrically connected to the signal output terminal of the third signal generator 153, and the second connection terminal of the first selection switch 161 can switch between being electrically connected to the first excitation element 3 and being electrically connected to the second excitation element 4. The second selection switch 162 has a first connection terminal and a second connection terminal. The first connection terminal of the second selection switch 162 is electrically connected to the signal output terminal of the fourth signal generator 154, and the second connection terminal of the second selection switch 162 can switch between being electrically connected to the third excitation element 9 and being electrically connected to the fourth excitation element 10.

[0346] The switch-selective drive circuit is applicable to scenarios where one of the first and second excitation components is loaded with an electrical signal and the other is not loaded with an electrical signal, and one of the third and fourth excitation components is loaded with an electrical signal and the other is not loaded with an electrical signal.

[0347] When the drive circuit is an independent drive type drive circuit, refer to Figure 25b The driving circuit includes: a fifth signal generator 155, a sixth signal generator 156, a seventh signal generator 157, an eighth signal generator 158, and a common electrical terminal 20. The common electrical terminal 20 is electrically connected to the first resonant element, the second resonant element, the third resonant element, and the fourth resonant element, which are electrically connected together, and the common electrical terminal is grounded. The signal output terminal of the fifth signal generator 155 is electrically connected to the first excitation element 2. The signal output terminal of the sixth signal generator 156 is electrically connected to the second excitation element 4. The signal output terminal of the seventh signal generator 157 is electrically connected to the third excitation element 11. The signal output terminal of the eighth signal generator 158 is electrically connected to the fourth excitation element 12.

[0348] The independent drive type driving circuit is applicable to the following scenarios: the first excitation component is loaded with a first electrical signal, while the second excitation component is loaded with a second electrical signal different from the first electrical signal, the third excitation component is loaded with a third electrical signal, and the fourth excitation component is loaded with a fourth electrical signal different from the third electrical signal.

[0349] Reference Figure 25a and Figure 25b When first excitation components are provided on two opposite sides of the first resonator, the two opposite first excitation components are electrically connected by a connecting wire, or by a conductive through-hole.

[0350] When the second excitation components are provided on both opposite sides of the second resonator, the two opposite second excitation components are electrically connected by a connecting wire, or by a conductive through hole.

[0351] When the third excitation components are provided on two opposite surfaces of the third resonator, the two opposite third excitation components are electrically connected by a connecting wire, or by a conductive through-hole.

[0352] When the fourth excitation components are provided on two opposite surfaces of the fourth resonator, the two opposite fourth excitation components are electrically connected by a connecting wire, or by a conductive through-hole.

[0353] It should be noted that when the number of exciters is greater, the drive circuit can be designed with reference to the switch-selectable drive circuit and the independent drive circuit described above. Detailed description of the drive circuit for a piezoelectric motor with more than four exciters will not be given here.

[0354] The following Figure 4 The piezoelectric motor shown is simulated and analyzed. Figure 26 This is the simulation result diagram.

[0355] Driven by a 5V signal source, an electrical signal is applied to the first excitation element, and no electrical signal is applied to the second excitation element. The first contact head and the second contact head perform elliptical motion clockwise toward the direction of the second excitation element. The curve of frequency and the X amplitude of the formed ellipse (called clockwise X amplitude in the figure) is as follows: Figure 26 As shown, the curve of frequency and the Y amplitude of the formed ellipse (called clockwise Y amplitude in the figure) is as follows Figure 26 shown.

[0356] Driven by a 5V signal source, an electrical signal is applied to the second excitation element, and no electrical signal is applied to the first excitation element. The first contact head and the second contact head perform elliptical motion counterclockwise toward the direction of the first excitation element. The curve of frequency and X amplitude of the formed ellipse (called counterclockwise X amplitude in the figure) is as follows: Figure 26 As shown, the curve of frequency and the Y amplitude of the formed ellipse (called counterclockwise Y amplitude in the figure) is as follows Figure 26 shown.

[0357] As can be seen from the figure, the driving voltage is low, and the piezoelectric motor can achieve back-and-forth motion within a frequency range of 870kHz to 890kHz. Therefore, the simulation results show that the piezoelectric motor can achieve a relatively ideal operating bandwidth and motion performance under low-voltage driving conditions, and that equipment errors have little impact on the motion performance.

[0358] The present application also provides a control method for the piezoelectric motor. When the piezoelectric motor includes a first excitation member and a second excitation member, a first transmission arm and a second transmission arm, a first contact head, and a follower connected to the first contact head, the control method for the piezoelectric motor includes:

[0359] An electrical signal is applied to one of the first and second excitation members, while the other is not. The excitation member loaded with the electrical signal deforms, thereby exciting the first resonant member, the first transmission arm, and the second transmission arm to vibrate, causing the first contact head to perform elliptical motion, thereby driving the follower to move.

[0360] In addition, the control method of the piezoelectric motor may also include:

[0361] A first electrical signal is applied to the first excitation element, and a second electrical signal with a different phase than the first is applied to the second excitation element. The excitation element, loaded with the electrical signal, deforms, stimulating the first resonator, the first transmission arm, and the second transmission arm to vibrate, causing the first contact head to perform elliptical motion, which in turn drives the follower to move.

[0362] In addition, the control method of the piezoelectric motor may also include:

[0363] The first and second excitation members are simultaneously loaded with electrical signals of the same frequency. The excitation members loaded with the electrical signals deform, thereby exciting the first resonant member, the first transmission arm, and the second transmission arm to vibrate, causing the first contact head to perform elliptical motion, thereby driving the follower to move.

[0364] In other words, if you want to achieve movement of the follower in different directions, there are three different implementations. The first is to apply an electrical signal to only one of the first and second exciters to change the direction of movement of the follower. Another is to apply electrical signals to both the first and second exciters simultaneously, with the phases of the electrical signals applied to the first and second exciters being different. By changing the phase difference of the electrical signals, the direction of movement of the follower is changed. The third is to apply the same electrical signal to both the first and second exciters simultaneously and change the frequency of the electrical signals to change the direction of movement of the follower.

[0365] When the piezoelectric motor further includes, in addition to the first and second excitation members, the first and second transmission arms, and the first contact head, a third transmission arm and a fourth transmission arm, which are located on the same side of the first resonant member and are connected to each other, and the side where the third and fourth transmission arms are located is opposite to the side where the first and second transmission arms are located, the third transmission arm is connected to the first resonant member, the fourth transmission arm is connected to the second resonant member, a second contact head is formed at the connection between the third and fourth transmission arms, and when the second contact head abuts against the driven member, the control method of the piezoelectric motor includes:

[0366] An electrical signal is applied to one of the first and second exciter components, while the other exciter component is not. The exciter component loaded with the electrical signal deforms, thereby stimulating the first, second, third, and fourth transmission arms to vibrate, causing the first and second contact heads to perform elliptical motion in the same direction, thereby driving the follower to move linearly.

[0367] In addition, the control method of the piezoelectric motor may also include:

[0368] A first electrical signal is applied to the first excitation element, and a second electrical signal with a different phase than the first signal is applied to the second excitation element. The excitation element, loaded with the electrical signal, deforms, stimulating the first, second, third, and fourth transmission arms to vibrate. This causes the first and second contact heads to perform elliptical motion in the same direction, thereby driving the follower to move linearly.

[0369] In addition, the control method of the piezoelectric motor may also include:

[0370] The same electrical signal is applied to the first and second excitation members simultaneously. The excitation members loaded with the electrical signal deform to excite the first resonator, the first transmission arm, and the second transmission arm to vibrate, causing the first contact head to perform elliptical motion, thereby driving the follower to move.

[0371] When the piezoelectric motor includes the first and second excitation members, the first and second transmission arms, and the first contact head, it also includes: a third resonant member, a fourth resonant member, an intermediate connecting portion, a third excitation member, a fourth excitation member, a fifth transmission arm, a sixth transmission arm, and a connecting shaft. That is, the piezoelectric motor is Figure 18 When the structure is shown, the control method of the piezoelectric motor includes:

[0372] Electrical signals are applied to the first and fourth excitation members, while no electrical signals are applied to the second and third excitation members. The excitation members loaded with electrical signals deform, thereby stimulating the first, second, fifth, and sixth transmission arms to vibrate, causing the first and third contact heads to perform elliptical motion in opposite directions, thereby driving the driven member to rotate about the connecting axis.

[0373] In addition, the control method of the piezoelectric motor may also include:

[0374] A third electrical signal is simultaneously applied to the first and fourth excitation members, while a fourth electrical signal having a different phase from the third electrical signal is simultaneously applied to the second and third excitation members. The excitation members loaded with the electrical signal deform, thereby stimulating the first, second, fifth, and sixth transmission arms to vibrate. This causes the first and third contact heads to perform elliptical motion in opposite directions, thereby driving the driven member to rotate about the connecting axis.

[0375] In addition, the control method of the piezoelectric motor may also include:

[0376] The same electrical signal is simultaneously applied to the first and fourth excitation members, and the same electrical signal is simultaneously applied to the second and third excitation members. The excitation members loaded with the electrical signal deform, thereby stimulating the first, second, fifth, and sixth transmission arms to vibrate, causing the first and third contact heads to perform elliptical motion in opposite directions, thereby driving the driven member to rotate about the connecting axis.

[0377] It should be noted that when the follower is a rotating body structure, the follower can rotate relative to the piezoelectric motor, or the piezoelectric motor can rotate relative to the follower, which needs to be determined according to the application scenario of the piezoelectric motor.

[0378] In addition, since the layout of the first fixing portion and the second fixing portion are different, the control method of the corresponding piezoelectric motor may also be different.

[0379] In an alternative embodiment, if Figure 4 In this structure, when the number of first fixing parts 71 and second fixing parts 72 is equal and they are arranged symmetrically about the first intermediate plane Q1, the following two excitation methods can be used: one is to excite one of the first excitation element 3 and the second excitation element 4, while deactivating the other. In other words, only one of the two excitation elements is loaded with an electrical signal, while the other is not. The other is to excite both the first excitation element 3 and the second excitation element 4 simultaneously. In other words, electrical signals are applied to both the first excitation element 3 and the second excitation element 4 at different phases.

[0380] When using the above two excitation methods, the trajectory of the first contact head moving along the first direction and the trajectory of the first contact head moving along the second direction opposite to the first direction are almost the same. In this way, the output and speed of the follower in the first direction are equivalent to the output and speed in the second direction. For example, if the motor of this structure is applied to a camera module, it will not cause the imaging lens assembly to have inconsistent movement speeds and movement distances in different directions, which will affect the performance of the camera module.

[0381] In some other optional embodiments, such as Figure 9e In the structure, when the number of the first fixing parts 71 and the second fixing parts 72 is not equal, the excitation method adopted is: simultaneously loading the first excitation member 3 and the second excitation member 4 with electrical signals of the same frequency.

[0382] Since the number of the first fixing parts 71 and the second fixing parts 72 are not equal, that is, they are asymmetrically arranged about the first intermediate surface, by adopting an excitation method of simultaneously loading electrical signals of the same frequency, the trajectory of the first contact head moving in the first direction and the trajectory of the first contact head moving in the second direction opposite to the first direction will be almost the same, thereby improving the performance of the piezoelectric motor. Figure 27 , the present application shows a schematic structural diagram of a camera module, which includes a fixing part 21, a first imaging lens assembly 221 and a second imaging lens assembly 222 movably arranged on the fixing part, and a third imaging lens assembly 223 and a fourth imaging lens assembly 224 relatively fixed on the fixing part 21. The first imaging lens assembly 221, the second imaging lens assembly 222, the third imaging lens assembly 223, and the fourth imaging lens assembly 224 constitute an imaging system. The first imaging lens assembly 221 is connected to the first piezoelectric motor 231, and the second imaging lens assembly 222 is connected to the second piezoelectric motor 232. The first piezoelectric motor 231 can drive the first imaging lens assembly 221 to move toward or away from the second imaging lens assembly 222, and the second piezoelectric motor 232 can drive the second imaging lens assembly 222 to move toward or away from the first imaging lens assembly 221. That is, the first direction of arrangement of the first excitation member and the second excitation member in the first piezoelectric motor (such as Figure 27 The P direction) is consistent with the moving direction of the first imaging lens assembly and the second imaging lens assembly.

[0383] Specifically, the first piezoelectric motor and the second piezoelectric motor can be used as follows Figure 4 The piezoelectric motor shown in FIG. 1 is fixed relative to the fixing member 21 , and the second fixing portion is fixed relative to the fixing member 21 .

[0384] There is no limitation on the arrangement positions of the first piezoelectric motor and the second piezoelectric motor, and they can be arranged on the same side or on different sides.

[0385] In order to ensure the smooth movement of the first imaging lens assembly and the second imaging lens assembly, the camera module further includes a guide structure for guiding the movement direction of the first imaging lens assembly and the second imaging lens assembly to be parallel to the first direction.

[0386] There are many ways to implement the guide structure. For example, refer to Figure 27 The guide structure includes a guide shaft, and the extension direction of the guide shaft is parallel to the first direction. The guide shaft includes a first guide shaft 241 and a second guide shaft 242. As another example, the guide structure includes a guide groove provided on the imaging lens assembly (including the first imaging lens assembly and the second imaging lens assembly), and a guide rail provided on the fixing member to cooperate with the guide groove. This application does not limit the structure of the guide structure, and any structure is within the scope of protection of this application.

[0387] In addition, refer to Figure 27 The camera module further includes a first position sensor 251 and a second position sensor 252. The first position sensor 251 is mounted on the first imaging lens assembly 221, and the second position sensor 252 is mounted on the second imaging lens assembly 222. The first position sensor 251 detects the position of the first imaging lens assembly 221, and the second position sensor 252 detects the position of the second imaging lens assembly 222.

[0388] It should be noted that the number of imaging lens assemblies in the imaging system is not limited to the first imaging lens assembly, the second imaging lens assembly, the third imaging lens assembly and the fourth imaging lens assembly. It can include fewer imaging lens assemblies or more imaging lens assemblies.

[0389] Of course, the camera module is not limited to the structure shown, but may also include other structures.

[0390] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0391] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A piezoelectric motor, characterized in that: include: a first resonant member and a second resonant member arranged symmetrically about the first intermediate surface; a first excitation member, disposed on the first resonant member, capable of exciting the first resonant member to vibrate when an electrical signal is applied to the first excitation member; a second excitation member, disposed on the second resonant member, capable of exciting the second resonant member to vibrate when an electrical signal is applied to the second excitation member; a first transmission arm and a second transmission arm connected to each other, wherein the first transmission arm is connected to the first resonant member, the second transmission arm is connected to the second resonant member, the first transmission arm and the second transmission arm are asymmetrically arranged about the first intermediate plane, a first contact head is formed at the connection between the first transmission arm and the second transmission arm, and the first contact head is used to abut against the driven member; The first excitation member and / or the second excitation member are used to rotate the first contact head and drive the driven member to move through the first transmission arm and the second transmission arm during vibration; The piezoelectric motor further comprises: at least one first fixing portion, fixed relative to the first resonator and located at an outer edge of the first resonator; at least one second fixing portion, fixed relative to the second resonator and located at an outer edge of the second resonator; The at least one first fixing portion and the at least one second fixing portion are arranged symmetrically with respect to the first intermediate surface; The first resonant member has an opposite first mounting surface, and the second resonant member has an opposite second mounting surface; The first excitation member is provided on one of the opposite first mounting surfaces; The second excitation component is provided on one of the opposite second mounting surfaces.

2. The piezoelectric motor according to claim 1, wherein There is a distance between the first resonant element and the second resonant element at positions close to the first transmission arm and the second transmission arm.

3. The piezoelectric motor according to claim 1 or 2, wherein: The number of the first fixing parts is equal to the number of the second fixing parts.

4. The piezoelectric motor according to claim 1 or 2, wherein: The number of the first fixing parts and the number of the second fixing parts are not equal.

5. The piezoelectric motor according to any one of claims 1 to 4, wherein The first fixing portion and the second fixing portion are both flat plate structures.

6. The piezoelectric motor according to claim 5, wherein A groove is formed on the outer edge of the plate-like structure close to the resonator.

7. The piezoelectric motor according to any one of claims 1 to 6, wherein: The length dimension of one of the first transmission arm and the second transmission arm is greater than the length dimension of the other transmission arm.

8. The piezoelectric motor according to any one of claims 1 to 7, wherein The first resonant component and the second resonant component are plate-shaped structures, and the surface where the first transmission arm and the second transmission arm are located is coplanar with the surface where the first resonant component and the second resonant component are located.

9. The piezoelectric motor according to any one of claims 1 to 8, wherein The first resonant component and the second resonant component are plate-shaped structures, and the first transmission arm and the second transmission arm protrude from the surface where the first resonant component and the second resonant component are located.

10. The piezoelectric motor according to claim 9, wherein The first resonant member has an opposite first mounting surface, and the second resonant member has an opposite second mounting surface; The first excitation member is provided on one of the opposite first mounting surfaces; The second excitation component is provided on one of the opposite second mounting surfaces.

11. The piezoelectric motor according to any one of claims 1 to 10, wherein The piezoelectric motor further comprises: a third transmission arm and a fourth transmission arm connected to each other, wherein the third transmission arm is connected to the first resonant member, the fourth transmission arm is connected to the second resonant member, and the third transmission arm and the fourth transmission arm are located on a side opposite to a side where the first transmission arm and the second transmission arm are located; The third transmission arm and the fourth transmission arm are asymmetrically arranged with respect to the first middle surface. A second contact head is formed at the connection between the third transmission arm and the fourth transmission arm. The second contact head is used to abut against the follower. The first contact head and the second contact head can drive the follower to move linearly.

12. The piezoelectric motor according to claim 11, wherein The first resonator and the second resonator are both symmetrical about the second middle plane, and the second middle plane is perpendicular to the first middle plane. The first transmission arm and the third transmission arm are symmetrical about the second middle plane, and the second transmission arm and the fourth transmission arm are symmetrical about the second middle plane.

13. The piezoelectric motor according to claim 11 or 12, wherein: The piezoelectric motor further includes a driven member, wherein the driven member includes: a first abutting plate abutting against the first contact head; a second abutting plate, abutting against the second contact head; The connecting plate is connected between the first abutting plate and the second abutting plate.

14. The piezoelectric motor according to any one of claims 1 to 10, wherein The piezoelectric motor further comprises: a third resonant element and a fourth resonant element arranged symmetrically about the first intermediate surface; an intermediate connecting portion, connecting the first resonator, the second resonator, the third resonator, and the fourth resonator; a third excitation member, disposed on the third resonant member, capable of exciting the third resonant member to vibrate when an electrical signal is applied to the third excitation member; a fourth excitation member, disposed on the fourth resonant member, capable of exciting the fourth resonant member to vibrate when an electrical signal is applied to the fourth excitation member; a fifth transmission arm and a sixth transmission arm connected to each other, the fifth transmission arm being connected to the third resonant member, the sixth transmission arm being connected to the fourth resonant member, the fifth transmission arm and the sixth transmission arm being asymmetrically arranged with respect to the first intermediate plane, a third contact head being formed at the connection between the fifth transmission arm and the sixth transmission arm, the first contact head and the third contact head being configured to abut against the driven member having a rotating body structure; A connecting shaft is provided on the intermediate connecting portion, wherein the axis of the connecting shaft is collinear with the rotation axis of the driven member.

15. The piezoelectric motor according to claim 14, wherein The first resonant component and the third resonant component are located on the same side of the first intermediate surface, the second resonant component and the fourth resonant component are located on the same side of the first intermediate surface, the first transmission arm and the sixth transmission arm are symmetrically arranged about the axis of the connecting shaft, and the second transmission arm and the fifth transmission arm are symmetrically arranged about the axis of the connecting shaft.

16. The piezoelectric motor according to any one of claims 1 to 15, wherein: The first resonator and the second resonator are made of conductive material, and the first resonator and the second resonator are integrally formed; or The first resonator and the second resonator are made of non-conductive materials, and a surface of the first resonator in contact with the first excitation member is provided with a conductive layer, and a surface of the second resonator in contact with the second excitation member is provided with a conductive layer, and the conductive layer on the first resonator and the conductive layer on the second resonator are integrally formed.

17. The piezoelectric motor according to claim 16, wherein The piezoelectric motor further includes a drive circuit, wherein the drive circuit includes: a common electrical terminal, the common electrical terminal being grounded; if the first resonator and the second resonator are made of a conductive material and are integrally formed, the common electrical terminal is electrically connected to the first resonator and the second resonator as a whole; if the first resonator and the second resonator are made of a non-conductive material and the conductive layer on the first resonator and the conductive layer on the second resonator are integrally formed, the common electrical terminal is electrically connected to the integral conductive layer; Signal generator; The selection switch has a first connection end and a second connection end, wherein the first connection end is electrically connected to the signal output end of the signal generator, and the second connection end can be switched between being electrically connected to the first excitation element and being electrically connected to the second excitation element.

18. The piezoelectric motor according to claim 16, wherein The piezoelectric motor further includes a drive circuit, wherein the drive circuit includes: a common electrical terminal, the common electrical terminal being grounded; if the first resonator and the second resonator are made of a conductive material and are integrally formed, the common electrical terminal is electrically connected to the first resonator and the second resonator as a whole; if the first resonator and the second resonator are made of a non-conductive material and the conductive layer on the first resonator and the conductive layer on the second resonator are integrally formed, the common electrical terminal is electrically connected to the conductive layer as a whole; a first signal generator, wherein a signal output terminal of the first signal generator is electrically connected to the first excitation component; A second signal generator, wherein a signal output end of the second signal generator is electrically connected to the second excitation component.

19. A method for controlling a piezoelectric motor, the method being applied to the piezoelectric motor according to any one of claims 1 to 18, characterized in that: The control method of the piezoelectric motor includes: An electrical signal is applied to one of the first excitation element and the second excitation element, while no electrical signal is applied to the other excitation element; or The first excitation element and the second excitation element are simultaneously loaded with electrical signals, and the phases of the loaded electrical signals are different; or, Simultaneously applying electrical signals of the same frequency to the first excitation element and the second excitation element; The excitation member loaded with an electrical signal is deformed to excite the first transmission arm and the second transmission arm to vibrate, thereby causing the first contact head to rotate and driving the driven member to move.

20. The piezoelectric motor control method according to claim 19, wherein: In a case where the piezoelectric motor includes one or more first fixing parts and one or more second fixing parts, the number of the first fixing parts and the second fixing parts are equal, and they are arranged symmetrically with respect to the first intermediate surface, the control method of the piezoelectric motor includes: An electrical signal is applied to one of the first excitation element and the second excitation element, while no electrical signal is applied to the other excitation element; or Electrical signals are simultaneously applied to the first excitation element and the second excitation element, and the phases of the applied electrical signals are different.

21. The method for controlling a piezoelectric motor according to claim 19, wherein: In a case where the piezoelectric motor includes the one or more first fixing parts and the one or more second fixing parts, and the number of the first fixing parts is unequal to the number of the second fixing parts, the method for controlling the piezoelectric motor includes: Electrical signals with the same frequency are simultaneously applied to the first excitation element and the second excitation element.

22. The piezoelectric motor control method according to claim 19 or 20, characterized in that: When an electrical signal is applied to the first excitation element and no electrical signal is applied to the second excitation element, the first contact head rotates along a first direction; When no signal is applied to the first excitation member and a signal is applied to the second excitation member, the first contact head rotates in a second direction opposite to the first direction.

23. The piezoelectric motor control method according to claim 19 or 21, characterized in that: When the first excitation element and the second excitation element are simultaneously loaded with electrical signals having a first phase difference, the first contact head rotates along a first direction; When the first excitation member and the second excitation member are simultaneously loaded with electrical signals having a second phase difference, the first contact head rotates in a second direction opposite to the first direction, wherein the values ​​of the first phase difference and the second phase difference are opposite numbers.

24. The piezoelectric motor control method according to claim 19 or 21, characterized in that: When the first excitation member and the second excitation member are simultaneously loaded with an electrical signal of a first frequency, the first contact head rotates along a first direction; When the first excitation member and the second excitation member are simultaneously loaded with an electrical signal of a second frequency, the first contact head rotates in a second direction opposite to the first direction, wherein the first frequency and the second frequency are different.

25. The piezoelectric motor control method according to claim 19, wherein: The piezoelectric motor further comprises: a third resonant element and a fourth resonant element arranged symmetrically about the first intermediate surface; an intermediate connecting portion, connecting the first resonator, the second resonator, the third resonator, and the fourth resonator; a third excitation member, disposed on the third resonant member, capable of exciting the third resonant member to vibrate when an electrical signal is applied to the third excitation member; a fourth excitation member, disposed on the fourth resonant member, capable of exciting the fourth resonant member to vibrate when an electrical signal is applied to the fourth excitation member; a fifth transmission arm and a sixth transmission arm connected to each other, the fifth transmission arm being connected to the third resonant member, the sixth transmission arm being connected to the fourth resonant member, the fifth transmission arm and the sixth transmission arm being asymmetrically arranged with respect to the first intermediate plane, a third contact head being formed at the connection between the fifth transmission arm and the sixth transmission arm, the first contact head and the third contact head being configured to abut against the driven member having a rotating body structure; A connecting shaft is provided on the intermediate connecting portion, wherein the axis of the connecting shaft is collinear with the rotation axis of the driven member. The control method of the piezoelectric motor includes: Applying electrical signals to the first excitation element and the fourth excitation element, and not applying electrical signals to the second excitation element and the third excitation element; The excitation member loaded with an electrical signal deforms to stimulate the first transmission arm, the second transmission arm, the fifth transmission arm and the sixth transmission arm to vibrate, causing the first contact head and the third contact head to rotate in opposite directions, thereby driving the follower and the piezoelectric motor to perform relative rotational motion.

26. A camera module, characterized in that: include: Imaging lens assembly; The piezoelectric motor according to any one of claims 1 to 18, wherein the first contact head is capable of driving the imaging lens assembly to move linearly.

27. The camera module according to claim 26, wherein: Also includes: a third transmission arm and a fourth transmission arm connected to each other, the third transmission arm being connected to the first resonant member, the fourth transmission arm being connected to the second resonant member, and the third transmission arm and the fourth transmission arm being located on a side opposite to the side where the first transmission arm and the second transmission arm are located; the third transmission arm and the fourth transmission arm are asymmetrically arranged with respect to the first intermediate plane, and a second contact head being formed at the connection between the third transmission arm and the fourth transmission arm, A follower, wherein the first contact head and the second contact head are both in contact with the follower, and the follower is relatively fixed to the imaging lens assembly; a first fixing portion, fixed relative to the first resonator and located at an outer edge of the first resonator; a second fixing portion, fixed relative to the second resonant component and located at an outer edge of the second resonant component; A fixing member, wherein the first resonant member is arranged on the fixing member through the first fixing portion, and the second resonant member is arranged on the fixing member through the second fixing portion.

28. A device having a moving load, characterized in that include: sports load; In the piezoelectric motor according to any one of claims 1 to 18, the first contact head is capable of driving the moving load to move.

29. The device having a moving load according to claim 28, characterized in that The device with a moving load is a mobile terminal, a robot or an optical detector.

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