Piezoelectric stick-slip rotary motor

Abstract

The application discloses a piezoelectric stick-slip rotary motor, which comprises a first frame, a first piezoelectric rotating mechanism, a mover, a second piezoelectric rotating mechanism and a second frame arranged in sequence; the mover is provided with a first pit and a second pit, the first pit and the second pit are coaxial and opposite to each other; the first piezoelectric rotating mechanism comprises a first cone head as an output torque, the first cone head is inserted into the first pit; the second piezoelectric rotating mechanism comprises a second cone head as an output torque, the second cone head is inserted into the second pit; the first piezoelectric rotating mechanism is provided with a first guide column, the first frame is provided with a first guide hole for the movement of the first guide column, the second piezoelectric rotating mechanism is provided with a second guide column, and the second frame is provided with a second guide hole for the movement of the second guide column. The first piezoelectric rotating mechanism and the second piezoelectric rotating mechanism are respectively applied with sawtooth piezoelectric signals to drive the mover to realize a rotary motion of more than 360 degrees, and the driving force and the rotating speed are large.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of micro-nano positioning, and particularly relates to a piezoelectric stick-slip rotary motor. BACKGROUND

[0002] The piezoelectric stick-slip rotary motor is a precision rotary displacement driver capable of realizing 360° rotation and micro-nano radian high-resolution. It is based on the slow extension and rapid shortening (rapid extension and slow shortening) of the piezoelectric actuator under the action of asymmetric sawtooth wave voltage, and realizes the forward and reverse rotary motion of the motor due to the inconsistent dynamic and static friction between the stator and the rotor. According to the different driving principles, the step piezoelectric driver can be divided into ultrasonic, inchworm and piezoelectric stick-slip drivers, each of which has its advantages and disadvantages.

[0003] The ultrasonic driver has the advantages of compact structure and fast moving speed, but its energy consumption is high; the inchworm driver has high efficiency, but its mechanical structure is complex and the moving speed is low; compared with the above piezoelectric drivers, the stick-slip driver has high motion accuracy and simple mechanical structure.

[0004] Compared with the electromagnetic motor, the piezoelectric stick-slip rotary motor has the advantages of simple control, no magnetic field interference, no end effect and thrust fluctuation. Therefore, in recent years, it has been widely used in the fields of biomedicine, ultra-precision machining and the like. However, the current piezoelectric stick-slip rotary motor still has the following disadvantages:

[0005] 1) Large volume and complex structure of the motor;

[0006] 2) Complex assembly and adjustment process between the stator and the rotor;

[0007] 3) Difficult to realize super 360° rotary motion;

[0008] 4) Large rotary displacement backhaul, small driving force and speed. SUMMARY

[0009] The present application aims to solve the above-mentioned technical problems, and provides a piezoelectric stick-slip rotary motor with compact structure, simple assembly and adjustment between the stator and the rotor, super 360° rotary motion, large driving force and speed.

[0010] The technical scheme adopted by the present application to solve the above-mentioned technical problems is as follows: a piezoelectric stick-slip rotary motor, comprising a first rack, a first piezoelectric rotary mechanism, a rotor, a second piezoelectric rotary mechanism and a second rack arranged in sequence.

[0011] The rotor is provided with a first pit and a second pit as a power terminal output component, the first pit and the second pit are opposite and coaxial.

[0012] The first piezoelectric rotating mechanism includes a first cone head as an output torque, and the first cone head is inserted into a first pit; the second piezoelectric rotating mechanism includes a second cone head as an output torque, and the second cone head is inserted into a second pit.

[0013] The first piezoelectric rotating mechanism is provided with a first guide column, the first rack is provided with a first guide hole for the movement of the first guide column, the second piezoelectric rotating mechanism is provided with a second guide column, and the second rack is provided with a second guide hole for the movement of the second guide column.

[0014] The first piezoelectric rotating mechanism is powered to drive the first cone head to rotate, and the first cone head drives the mover to rotate through the static friction between the first cone head and the first pit; the second piezoelectric rotating mechanism is powered to drive the second cone head to rotate, and the second cone head drives the mover to rotate through the static friction between the second cone head and the second pit.

[0015] When the mover needs to continuously rotate, a voltage is applied to the first piezoelectric rotating mechanism, the voltage strength is slowly increased from 0 to a peak value, the first cone head slowly drives the mover to rotate, and when the voltage reaches the peak value, the voltage is rapidly reduced to 0, the first cone head is rapidly reset, and the cycle is repeated; the waveform of the voltage applied to the second piezoelectric rotating mechanism is the same as that of the first piezoelectric rotating mechanism, except that the time when the voltage is applied to the second piezoelectric rotating mechanism is in the process of the voltage of the first piezoelectric rotating mechanism from 0 to the peak value, so that when the first cone head is reset, the second cone head still drives the mover to rotate, and in the next cycle, when the second cone head is reset, the first cone head still drives the mover to rotate, and finally the mover rotates a certain angle in a positive direction in one cycle; repeating the above steps can realize continuous rotating movement of the motor, and the continuously rotating second cone head can correct the back error of the mover when the first cone head is reset. Adjusting the distance between the first rack and the second rack can adjust the friction force received by the mover. The first guide column has at least two guide columns to guide the axial movement of the first piezoelectric rotating mechanism, and the second guide column has at least two guide columns to guide the axial movement of the second piezoelectric rotating mechanism.

[0016] To optimize the above technical solution, the following measures are taken:

[0017] The first rack and the second rack are arranged on the base, the first rack is provided with a slot-shaped hole leading to the base, the second rack is provided with a counterbore leading to the base, the slot-shaped hole is provided with a first fastening screw, and the counterbore is provided with a second fastening screw. Loosening the first fastening screw, the first rack can move on the base, so as to adjust the distance between the first cone head and the first pit, and adjust the distance between the second cone head and the second pit, and finally adjust the static friction force received by the mover.

[0018] As a further optimization of the present application, the first piezoelectric rotating mechanism comprises a first ring provided with a first guide column, and a first rotating member located at the center of the first ring, and further comprises a first piezoelectric driving group and a first flexible connecting member arranged between the first ring and the first rotating member, and a first taper head coaxially arranged on the first rotating member; the first piezoelectric driving group outputs displacement when energized, and converts the linear displacement into rotating torque through the first rotating member, and the first flexible connecting member can limit the excessive rotation of the first rotating member and also provide elastic reset power for the first rotating member.

[0019] The second piezoelectric rotating mechanism comprises a second ring provided with a second guide column, and a second rotating member located at the center of the second ring, and further comprises a second piezoelectric driving group and a second flexible connecting member arranged between the second ring and the second rotating member, and a second taper head coaxially arranged on the second rotating member; the second piezoelectric driving group outputs displacement when energized, and converts the linear displacement into rotating torque through the second rotating member, and the second flexible connecting member can limit the excessive rotation of the second rotating member and also provide elastic reset power for the second rotating member.

[0020] The output rotating directions of the first piezoelectric driving group and the second piezoelectric driving group after energization are the same, so as to enable the rotor to continuously rotate forward or reversely.

[0021] As a further optimization of the present application, the first frame is provided with a first shaft hole, and the first shaft hole is provided with a first bearing, and the second frame is provided with a second shaft hole, and the second shaft hole is provided with a second bearing;

[0022] The shaft center of the first rotating member and the first taper head is provided with a first through hole, the shaft center of the second rotating member and the second taper head is provided with a second through hole, and a third through hole is arranged between the first pit and the second pit;

[0023] The first shaft hole, the second shaft hole, the first through hole, the second through hole and the third through hole are coaxial, and a center shaft body is arranged therethrough, and the center shaft body is rotationally arranged at the shaft center of the first bearing and the second bearing.

[0024] As a further optimization of the present application, the center shaft body comprises a bulging part abutting against the outer side of the inner ring of the first bearing, and a threaded segment protruding out of the outer side of the second bearing, and the threaded segment is fitted with a pre-tightening nut; a butterfly spring is arranged between the inner ring of the first bearing and the first rotating member. The butterfly spring can press the first rotating member towards the rotor, so as to ensure the effective static friction force between the first taper head and the first pit, and also ensure the effective static friction force between the second taper head and the second pit.

[0025] As a further optimization of the present application, the first piezoelectric drive group comprises a first pre-tightening washer, a first piezoelectric actuator and a first half-ball head in sequence, the first ring-shaped member is provided with a first top-holding portion for placing the first pre-tightening washer, and the first rotating member is provided with a second top-holding portion for the first half-ball head to abut against. When the first piezoelectric actuator is energized to elongate, the first rotating member can be pushed to rotate by the first half-ball head, and the first half-ball head can avoid damage to the first piezoelectric actuator caused by lateral pressure.

[0026] The second piezoelectric drive group comprises a second pre-tightening washer, a second piezoelectric actuator and a second half-ball head in sequence, the second ring-shaped member is provided with a third top-holding portion for placing the second pre-tightening washer, and the second rotating member is provided with a fourth top-holding portion for the second half-ball head to abut against. When the second piezoelectric actuator is energized to elongate, the second rotating member can be pushed to rotate by the second half-ball head, and the second half-ball head can avoid damage to the second piezoelectric actuator caused by lateral pressure.

[0027] The first piezoelectric actuator and the second piezoelectric actuator are arranged obliquely, and have the same oblique direction and angle in the same projection.

[0028] As a further optimization of the present application, the first ring-shaped member is provided with a first pre-tightening screw abutting against the first pre-tightening washer, and the second ring-shaped member is provided with a second pre-tightening screw abutting against the second pre-tightening washer.

[0029] The number of the first piezoelectric drive groups is two in total, and they are rotationally symmetrically distributed around the first through hole, and the number of the second piezoelectric drive groups is two in total, and they are rotationally symmetrically distributed around the second through hole.

[0030] As a further optimization of the present application, the first flexible connecting member is in a strip shape, and the first ring-shaped member is provided with a first buffer groove for accommodating the first flexible connecting member; and the second flexible connecting member is in a strip shape, and the second ring-shaped member is provided with a second buffer groove for accommodating the second flexible connecting member.

[0031] One end of the first flexible connecting member is connected to the outer edge of the first rotating member, and the other end is connected to the bottom of the first buffer groove; one end of the second flexible connecting member is connected to the outer edge of the second rotating member, and the other end is connected to the bottom of the second buffer groove. Compared with being connected to the inner edge of the first ring-shaped member, the first radial flexible hinge is closer to the outer edge of the first ring-shaped member, the first flexible connecting member can be made longer, and the first rotating member can rotate at a larger angle, and similarly, the second rotating member can rotate at a larger angle.

[0032] As a further optimization of the present application, the number of the first flexible connecting members is two in total and they are on the same diameter line; and the number of the second flexible connecting members is two in total and they are on the same diameter line.

[0033] As a further optimization of the invention, the first piezoelectric actuator and the first flexible connection are parallel; the second piezoelectric actuator and the second flexible connection are parallel.

[0034] In summary, compared with the prior art, the piezoelectric stick-slip rotary motor of the invention has the following advantages:

[0035] 1) The motor has small volume and simple and compact structure;

[0036] 2) The motor can change the friction between the stator and the rotor by simple adjustment;

[0037] 3) The motor can realize rotary motion of more than 360°;

[0038] 4) The motor adopts double drive mode, which not only can reduce the angular return displacement, but also can increase the motor speed and the driving force. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a structural schematic diagram of the embodiment one of the invention;

[0040] Figure 2 is a three-dimensional structural schematic diagram of the embodiment one of the invention;

[0041] Figure 3 is a structural schematic diagram of the embodiment one of the invention; Figure 1

[0042] Figure 4 is a structural schematic diagram of the embodiment one of the invention; Figure 2

[0043] Figure 5 is an exploded schematic diagram of the embodiment one of the invention; Figure 3

[0044] Figure 6 is a structural schematic diagram of the first driving mechanism in the embodiment one of the invention from the top view; Figure 1

[0045] Figure 7 is an exploded schematic diagram of the embodiment one of the invention; Figure 6

[0046] Figure 8 is a structural schematic diagram of the first driving mechanism in the embodiment one of the invention from the same view as Figure 6

[0047] Figure 9 is an exploded schematic diagram of the embodiment one of the invention; Figure 8

[0048] Figure 10 is a driving waveform diagram of the first piezoelectric actuator and the second piezoelectric actuator of the invention. DETAILED DESCRIPTION

[0049] ​​​​​​​The embodiments of the present application will be further described in conjunction with the accompanying drawings.

[0050] Figures 1 to 9 The structural diagram of the present application is shown.

[0051] The reference signs in the drawings are as follows: first rack 1, first shaft hole 11, slot-shaped hole 12, first fastening screw 121, first guide hole 13, first piezoelectric rotating mechanism 2, first taper head 21, first through hole 22, first guide column 23, first ring-shaped part 24, first buffer groove 241, first top supporting part 242, first rotating part 25, second top supporting part 251, first piezoelectric driving group 26, first pre-tightening gasket 261, first piezoelectric actuator 262, first half-spherical head 263, first flexible connecting part 27, first pre-tightening screw 28, mover 3, first pit 31, second pit 32, third through hole 33, second piezoelectric rotating mechanism 4, second taper head 41, second through hole 42, second guide column 43, second ring-shaped part 44, second buffer groove 441, third top supporting part 442, second rotating part 45, fourth top supporting part 451, second piezoelectric driving group 46, second pre-tightening gasket 461, second piezoelectric actuator 462, second half-spherical head 463, second flexible connecting part 47, second pre-tightening screw 48, second rack 5, second shaft hole 51, counterbore 52, second fastening screw 521, second guide hole 53, base 6, central shaft body 7, bulging part 71, threaded section 72, pre-tightening nut 73, first bearing 81, second bearing 82, butterfly spring 9.

[0052] In the first embodiment, as shown in the drawings, a piezoelectric stick-slip rotating motor comprises a first rack 1, a first piezoelectric rotating mechanism 2, a mover 3, a second piezoelectric rotating mechanism 4 and a second rack 5 arranged in sequence; Figures 1 to 9

[0053] The mover 3 is provided with a first pit 31 and a second pit 32, the first pit 31 and the second pit 32 are opposite and coaxial, and both the first pit 31 and the second pit 32 are taper pits;

[0054] The first piezoelectric rotating mechanism 2 comprises a first taper head 21 as an output torque, the first taper head 21 is inserted into the first pit 31, and the second piezoelectric rotating mechanism 4 comprises a second taper head 41 as an output torque, the second taper head 41 is inserted into the second pit 32;

[0055] The first piezoelectric rotating mechanism 2 is provided with a first guide column 23, the first rack 1 is provided with a first guide hole 13 for the movement of the first guide column 23, the second piezoelectric rotating mechanism 4 is provided with a second guide column 43, and the second rack 5 is provided with a second guide hole 53 for the movement of the second guide column 43.

[0056] ​The first piezoelectric rotating mechanism 2 is powered to drive the first cone head 21 to rotate, and the first cone head 21 drives the mover 3 to rotate through the static friction between the first cone head 21 and the first pit 31; the second piezoelectric rotating mechanism 4 is powered to drive the second cone head 41 to rotate, and the second cone head 41 drives the mover 3 to rotate through the static friction between the second cone head 41 and the second pit 32.

[0057] When the mover 3 needs to rotate continuously, a voltage is applied to the first piezoelectric rotating mechanism 2, the voltage strength is slowly increased from 0 to a peak value, the first cone head 21 slowly drives the mover 3 to rotate, and after the voltage reaches the peak value, the voltage is quickly reduced to 0, the first cone head 21 is quickly reset, and the cycle is repeated; the waveform of the voltage applied to the second piezoelectric rotating mechanism 4 is the same as that of the first piezoelectric rotating mechanism 2, except that the time when the voltage is applied to the second piezoelectric rotating mechanism 4 is in the process of the voltage of the first piezoelectric rotating mechanism 2 from 0 to the peak value, so that when the first cone head 21 is reset, the second cone head 41 still drives the mover 3 to rotate, and in the next cycle, when the second cone head 41 is reset, the first cone head 21 still drives the mover 3 to rotate, and finally the mover 3 rotates a certain angle in a positive direction in one cycle; repeating the above steps can realize continuous rotating movement of the motor, and the second cone head 41 that continues to rotate can correct the back error of the mover 3 when the first cone head 21 is reset. Adjusting the distance between the first rack 1 and the second rack 5 can adjust the friction force received by the mover 3. The first guide column 23 has at least two, which can guide the axial movement of the first piezoelectric rotating mechanism 2, and the second guide column 43 has at least two, which can guide the axial movement of the second piezoelectric rotating mechanism 4.

[0058] The first rack 1 and the second rack 5 are arranged on the base 6, the first rack 1 is provided with a slot-shaped hole 12 leading to the base 6, the second rack 5 is provided with a counterbore 52 leading to the base 6, the slot-shaped hole 12 is provided with a first fastening screw 121, and the counterbore 52 is provided with a second fastening screw 521. Loosening the first fastening screw 121 can move the first rack 1 on the base 6, so as to adjust the distance between the first cone head 21 and the first pit 31, and adjust the distance between the second cone head 41 and the second pit 32, and finally adjust the static friction force received by the mover 3.

[0059] In the embodiment, as Figure 6 and Figure 7As shown in the figure, the first piezoelectric rotating mechanism 2 comprises a first ring 24 provided with a first guide column 23, and a first rotating member 25 located at the center of the first ring 24, and further comprises a first piezoelectric driving group 26 and a first flexible connecting member 27 arranged between the first ring 24 and the first rotating member 25, and the first tapered head 21 is coaxially arranged on the first rotating member 25; the first piezoelectric driving group 26 outputs displacement after being electrified, and converts the linear displacement into rotating torque through the first rotating member 25, and the first flexible connecting member 27 can limit the excessive rotation of the first rotating member 25 and also provide the elastic reset power for the first rotating member 25.

[0060] As shown in the figure, Figure 8 and Figure 9 As shown in the figure, the second piezoelectric rotating mechanism 4 comprises a second ring 44 provided with a second guide column 43, and a second rotating member 45 located at the center of the second ring 44, and further comprises a second piezoelectric driving group 46 and a second flexible connecting member 47 arranged between the second ring 44 and the second rotating member 45, and the second tapered head 41 is coaxially arranged on the second rotating member 45; the second piezoelectric driving group 46 outputs displacement after being electrified, and converts the linear displacement into rotating torque through the second rotating member 45, and the second flexible connecting member 47 can limit the excessive rotation of the second rotating member 45 and also provide the elastic reset power for the second rotating member 45.

[0061] The output rotating directions of the first piezoelectric driving group 26 and the second piezoelectric driving group 46 after being electrified are the same, so as to make the rotor 3 continuously rotate forward or reversely.

[0062] In the embodiment, as shown in the figure, Figure 5 the first rack 1 is provided with a first shaft hole 11, and the first shaft hole 11 is provided with a first bearing 81, and the second rack 5 is provided with a second shaft hole 51, and the second shaft hole 51 is provided with a second bearing 82;

[0063] As shown in the figure, Figure 5 the shaft center of the first rotating member 25 and the first tapered head 21 is provided with a first through hole 22, the shaft center of the second rotating member 45 and the second tapered head 41 is provided with a second through hole 42, and a third through hole 33 is arranged between the first pit 31 and the second pit 32; as shown in the figure, Figure 5 the first shaft hole 11, the second shaft hole 51, the first through hole 22, the second through hole 42 and the third through hole 33 are coaxial, and are jointly provided with a center shaft body 7, and the center shaft body 7 is rotationally arranged at the shaft center of the first bearing 81 and the second bearing 82.

[0064] In the embodiment, as shown in the figure, Figures 3 to 5 the center shaft body 7 comprises a bulging part 71 abutting against the outer side of the inner ring of the first bearing 81, and a threaded segment 72 protruding out of the outer side of the second bearing 82, and the threaded segment 72 is fitted with a pre-tightening nut 73; and a butterfly spring 9 is clamped between the inner ring of the first bearing 81 and the first rotating member 25.

[0065] In the embodiment, as shown in Figure 6 and Figure 7 , the first piezoelectric drive group 26 comprises a first pre-tightening washer 261, a first piezoelectric actuator 262 and a first half-ball head 263 in sequence, the first annular member 24 is provided with a first top-holding portion 242 for placing the first pre-tightening washer 261, and the first rotating member 25 is provided with a second top-holding portion 251 for the first half-ball head 263 to abut against. When the first piezoelectric actuator 262 is energized to elongate, the first rotating member 25 can be pushed to rotate by the first half-ball head 263, and the first half-ball head 263 can avoid damage to the first piezoelectric actuator 262 caused by lateral pressure.

[0066] As shown in Figure 8 and Figure 9 , the second piezoelectric drive group 46 comprises a second pre-tightening washer 461, a second piezoelectric actuator 462 and a second half-ball head 463 in sequence, the second annular member 44 is provided with a third top-holding portion 442 for placing the second pre-tightening washer 461, and the second rotating member 45 is provided with a fourth top-holding portion 451 for the second half-ball head 463 to abut against. When the second piezoelectric actuator 462 is energized to elongate, the second rotating member 45 can be pushed to rotate by the second half-ball head 463, and the second half-ball head 463 can avoid damage to the second piezoelectric actuator 462 caused by lateral pressure.

[0067] The first piezoelectric actuator 262 and the second piezoelectric actuator 462 are arranged obliquely, and the oblique directions and angles are the same in the same projection.

[0068] In the embodiment, as shown in Figure 6 and Figure 7 , the first annular member 24 is provided with a first pre-tightening screw 28 abutting against the first pre-tightening washer 261, as shown in Figure 8 and Figure 9 , the second annular member 44 is provided with a second pre-tightening screw 48 abutting against the second pre-tightening washer 461;

[0069] As shown in Figure 6 and Figure 7 , the number of the first piezoelectric drive groups 26 is two in total, and they are distributed in rotational symmetry around the first through hole 22, as shown in Figure 8 and Figure 9 , the number of the second piezoelectric drive groups 46 is two in total, and they are distributed in rotational symmetry around the second through hole 42.

[0070] In the embodiment, as shown in Figure 6 and Figure 7 , the first flexible connecting member 27 is in a strip shape, and the first annular member 24 is provided with a first buffer groove 241 for accommodating the first flexible connecting member 27; as shown in Figure 8 and Figure 9The second flexible connecting piece 47 is in the shape of a long strip, and the second annular piece 44 is provided with a second buffer groove 441 for accommodating the second flexible connecting piece 47.

[0071] One end of the first flexible connecting piece 27 is connected to the outer edge of the first rotating piece 25, and the other end is connected to the bottom of the first buffer groove 241. One end of the second flexible connecting piece 47 is connected to the outer edge of the second rotating piece 45, and the other end is connected to the bottom of the second buffer groove 441. Compared with being connected to the inner edge of the first annular piece 24, the first radial flexible hinge is closer to the outer edge of the first annular piece 24, the first flexible connecting piece 27 can be longer, and the first rotating piece 25 can rotate at a larger angle. Similarly, the second rotating piece 45 can rotate at a larger angle.

[0072] As shown in Figure 6 and Figure 7 , the number of first flexible connecting pieces 27 is two in total and is on the same diameter line; as shown in Figure 8 and Figure 9 , the number of second flexible connecting pieces 47 is two in total and is on the same diameter line.

[0073] As shown in Figure 6 and Figure 7 , the first piezoelectric actuator 262 is parallel to the first flexible connecting piece 27; as shown in Figure 8 and Figure 9 , the second piezoelectric actuator 462 is parallel to the second flexible connecting piece 47.

[0074] When looking from the first piezoelectric rotating mechanism 2 to the second piezoelectric rotating mechanism 4, if the rotating direction of the mover 3 is positive rotation, the working principle of the present application is as follows:

[0075] As shown in Figure 10 , the voltage applied to the first piezoelectric actuator 262 is in the shape of a sawtooth wave, and at time t10, a slow voltage is applied to the first piezoelectric actuator 262, and at time t11, the first piezoelectric actuator 262 is quickly retracted after being powered off, so that the first piezoelectric rotating mechanism 2 is reset, and at time t12 when the resetting is completed, the cycle is repeated again. The voltage waveform applied to the second piezoelectric actuator 462 is the same as that of the first piezoelectric actuator 262, except that the time of applying voltage to the second piezoelectric actuator 462 is in the process of voltage rising of the first piezoelectric actuator 262. Finally, the mover 3 rotates a certain angle in the positive direction in one cycle; repeating the above steps can achieve continuous positive rotation of the mover. If reverse rotation is required, a fast voltage is applied and a slow voltage is reduced.

[0076] Embodiment two, the structure of embodiment two is a simplification of embodiment one, and the structure only has the first rack 1, the first piezoelectric rotating mechanism 2, the mover 3, the second piezoelectric rotating mechanism 4, and the second rack 5 arranged in sequence;

[0077] The mover 3 is provided with a first pit 31 and a second pit 32, which are opposite and coaxial;

[0078] The first piezoelectric rotating mechanism 2 includes a first taper head 21 as an output torque, which is inserted into the first pit 31, and the second piezoelectric rotating mechanism 4 includes a second taper head 41 as an output torque, which is inserted into the second pit 32;

[0079] The first piezoelectric rotating mechanism 2 is provided with a first guide column 23, and the first rack 1 is provided with a first guide hole 13 for the movement of the first guide column 23; the second piezoelectric rotating mechanism 4 is provided with a second guide column 43, and the second rack 5 is provided with a second guide hole 53 for the movement of the second guide column 43.

[0080] The best embodiment of the present application has been illustrated, and various changes or modifications made by those skilled in the art will not deviate from the scope of the present application.

Claims

1. A piezoelectric stick-slip rotary motor, characterized in that, It includes a first frame (1), a first piezoelectric rotating mechanism (2), a mover (3), a second piezoelectric rotating mechanism (4), and a second frame (5) arranged in sequence; The moving part (3) is provided with a first mortar (31) and a second mortar (32), the first mortar (31) and the second mortar (32) are oriented in opposite directions and are coaxial; The first piezoelectric rotating mechanism (2) includes a first cone (21) as the output torque, which is inserted into the first mortise (31). The second piezoelectric rotating mechanism (4) includes a second cone (41) as the output torque, which is inserted into the second mortise (32). The first piezoelectric rotating mechanism (2) is provided with a first guide post (23), the first frame (1) is provided with a first guide hole (13) for the first guide post (23) to move, the second piezoelectric rotating mechanism (4) is provided with a second guide post (43), and the second frame (5) is provided with a second guide hole (53) for the second guide post (43) to move. The first frame (1) and the second frame (5) are jointly mounted on the base (6). The first frame (1) is provided with a slotted hole (12) leading to the base (6), and the second frame (5) is provided with a countersunk hole (52) leading to the base (6). The slotted hole (12) is fitted with a first fastening screw (121), and the countersunk hole (52) is fitted with a second fastening screw (521). The first piezoelectric rotating mechanism (2) includes a first annular member (24) with a first guide post (23), and a first rotating member (25) located at the center of the first annular member (24). It also includes a first piezoelectric drive group (26) and a first flexible connector (27) disposed between the first annular member (24) and the first rotating member (25). The first cone (21) is coaxially disposed on the first rotating member (25). The second piezoelectric rotating mechanism (4) includes a second annular member (44) with a second guide post (43), and a second rotating member (45) located at the center of the second annular member (44). It also includes a second piezoelectric drive group (46) and a second flexible connector (47) disposed between the second annular member (44) and the second rotating member (45). The second cone (41) is coaxially disposed on the second rotating member (45). The output direction of the first piezoelectric drive group (26) and the second piezoelectric drive group (46) is the same after being energized.

2. The piezoelectric stick-slip rotary motor according to claim 1, characterized in that, The first frame (1) is provided with a first shaft hole (11), and a first bearing (81) is provided in the first shaft hole (11). The second frame (5) is provided with a second shaft hole (51), and a second bearing (82) is provided in the second shaft hole (51). The first rotating member (25) and the first cone (21) are provided with a first through hole (22) at their axis, the second rotating member (45) and the second cone (41) are provided with a second through hole (42) at their axis, and a third through hole (33) is provided between the first mortar (31) and the second mortar (32). The first shaft hole (11), the second shaft hole (51), the first through hole (22), the second through hole (42) and the third through hole (33) are coaxial and are connected to a central shaft body (7). The central shaft body (7) is rotatably mounted on the axis of the first bearing (81) and the second bearing (82).

3. A piezoelectric stick-slip rotary motor according to claim 2, characterized in that, The central shaft (7) includes an enlarged portion (71) abutting the outer side of the inner ring of the first bearing (81) and a threaded section (72) protruding from the outer side of the second bearing (82), the threaded section (72) being fitted with a preload nut (73); a butterfly spring (9) is sandwiched between the inner ring of the first bearing (81) and the first rotating member (25).

4. A piezoelectric stick-slip rotary motor according to claim 3, characterized in that, The first piezoelectric drive assembly (26) includes a first preloaded pad (261), a first piezoelectric actuator (262), and a first hemispherical head (263) arranged sequentially. The first annular member (24) is provided with a first support portion (242) for placing the first preloaded pad (261), and the first rotating member (25) is provided with a second support portion (251) for the first hemispherical head (263) to be supported. The second piezoelectric drive assembly (46) includes a second preloaded pad (461), a second piezoelectric actuator (462), and a second hemispherical head (463) that are sequentially mounted on top. The second annular member (44) is provided with a third top support (442) for placing the second preloaded pad (461), and the second rotating member (45) is provided with a fourth top support (451) for the second hemispherical head (463) to be held against. The first piezoelectric actuator (262) and the second piezoelectric actuator (462) are tilted, and the tilting direction and angle are the same on the same projection.

5. A piezoelectric stick-slip rotary motor according to claim 4, characterized in that, The first annular member (24) is provided with a first pre-tightening screw (28) pressing against the first pre-tightening washer (261), and the second annular member (44) is provided with a second pre-tightening screw (48) pressing against the second pre-tightening washer (461). There are two first piezoelectric drive groups (26) that are rotationally symmetrically distributed around the first through hole (22), and there are two second piezoelectric drive groups (46) that are rotationally symmetrically distributed around the second through hole (42).

6. A piezoelectric stick-slip rotary motor according to claim 5, characterized in that, The first flexible connector (27) is elongated, and the first annular member (24) is provided with a first buffer groove (241) to accommodate the first flexible connector (27); the second flexible connector (47) is elongated, and the second annular member (44) is provided with a second buffer groove (441) to accommodate the second flexible connector (47).

7. A piezoelectric stick-slip rotary motor according to claim 6, characterized in that, There are two first flexible connectors (27) and they are on the same diameter line; there are two second flexible connectors (47) and they are on the same diameter line.

8. A piezoelectric stick-slip rotary motor according to claim 7, characterized in that, The first piezoelectric actuator (262) and the first flexible connector (27) are parallel; the second piezoelectric actuator (462) and the second flexible connector (47) are parallel.

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