Coaxial telescopic tubular piezoelectric linear motor, driving equipment and system

Abstract

The invention provides a coaxial telescopic tubular piezoelectric linear motor, a driving device and a system, the coaxial telescopic tubular piezoelectric linear motor comprises a stick-slip moving assembly, the stick-slip moving assembly comprises a first moving tube body and a second moving tube body, the first moving tube body is provided with a moving groove and fins, the fins abut against the second moving tube body so as to form a friction pair, and the second moving tube body is provided with a second moving groove; the second movable pipe body is provided with a pin shaft and a connecting groove; and the piezoelectric driving assembly comprises a piezoelectric ceramic tube, and the piezoelectric ceramic tube is connected to the first movable tube body and is externally connected with power supply equipment. In the invention, all functional components are arranged along the same axis, so that the radial size is obviously reduced, the device is suitable for being integrated on micro equipment, parts such as traditional guide rails and springs are omitted in structural design, and the assembly complexity and cost are reduced. System integration is facilitated, and the movement precision can be further improved. Compared with a conventional piezoelectric driving motor, the piezoelectric driving motor has the advantages of miniaturization, integration, high precision, high compatibility and applicability and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of piezoelectric driving, in particular to a coaxial telescopic tubular piezoelectric linear motor, a driving device and a system. BACKGROUND

[0002] As a kind of precision driving device based on inverse piezoelectric effect of piezoelectric body, piezoelectric motor can directly convert electrical energy into mechanical energy, realize micro-nano level high-precision displacement output, and has irreplaceable application value in precision manufacturing, optical instruments, medical devices and other fields. Among them, piezoelectric stick-slip motor has become an important research direction in the field of micro-precision driving due to its simple structure, high displacement resolution and stable output force.

[0003] In the prior art, piezoelectric stick-slip motor capable of realizing precise linear displacement has been applied to a certain extent, but its structural design still has many limitations: on the one hand, in order to realize driving force transmission and motion guidance, the existing motor often needs complex transmission mechanism and positioning components, resulting in a large number of parts, complicated assembly process, which not only increases the production cost, but also affects the overall driving precision due to the cooperation error of multiple components; on the other hand, limited by the traditional structure layout, the radial size or axial length of the motor is difficult to effectively reduce, and the overall volume is large, which cannot meet the compactness requirement of driving device for miniaturized equipment, thereby seriously limiting its use range. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is to overcome the problems of large volume and complex structure of the existing piezoelectric stick-slip motor, and to provide a coaxial telescopic tubular piezoelectric linear motor, a driving device and a system.

[0005] To solve the above technical problems, the present application provides a coaxial telescopic tubular piezoelectric linear motor, which comprises: a stick-slip moving assembly, the stick-slip moving assembly comprises a first moving tube body and a second moving tube body arranged coaxially, and the first moving tube body is arranged outside the second moving tube body, wherein the first moving tube body is provided with a moving groove and a fin, the moving groove extends from one end of the first moving tube body to the middle part along the length direction, the fin is arranged at the extension end of the moving groove and protrudes towards the second moving tube body to abut against the outer wall of the second moving tube body, the contact part of the fin and the second moving tube body forms a friction pair, and the two ends of the second moving tube body in the length direction are respectively provided with a pin shaft and a connecting groove, the pin shaft is slidingly embedded in the moving groove, and an external load can be connected to the connecting groove; a piezoelectric driving assembly, the piezoelectric driving assembly comprises a piezoelectric ceramic tube, the piezoelectric ceramic tube is connected to the first moving tube body, and an external power supply device is connected.

[0006] In one embodiment of the present application, the piezoelectric driving assembly comprises a limiting porcelain ring, which is arranged at one end of the piezoelectric ceramic tube and is provided with at least one alignment part, which is arranged outwardly from the inner surface of the limiting porcelain ring and can be embedded in the moving groove.

[0007] In one embodiment of the present application, the limiting porcelain ring further comprises a first through hole, the piezoelectric ceramic tube is connected with an external power supply device through wires, and the wires pass through the first through hole from the inside to the outside of the limiting porcelain ring.

[0008] In one embodiment of the present application, the piezoelectric driving assembly further comprises end covers and a patch, the end covers are arranged at both ends of the piezoelectric ceramic tube in the length direction, one end of each end cover is provided with a clamping groove, and the other end is connected with the patch, and the piezoelectric ceramic tube can be inserted into the clamping groove.

[0009] In one embodiment of the present application, the coaxial telescopic tubular piezoelectric linear motor further comprises a support protection assembly, the stick-slip moving assembly and the piezoelectric driving assembly are arranged inside the protection pipe body and are coaxially arranged in the protection pipe body.

[0010] In one embodiment of the present application, the protection pipe body is provided with a second through hole, the piezoelectric ceramic tube is connected with an external power supply device through wires, and the wires pass through the second through hole from the inside to the outside of the limiting porcelain ring.

[0011] In one embodiment of the present application, the support protection assembly further comprises a first fixed cover, a second fixed cover and a baffle, the first fixed cover and the second fixed cover are arranged at both ends of the protection pipe body, and the first fixed cover is arranged close to the piezoelectric driving assembly, and the baffle is arranged between the second fixed cover and the protection pipe body.

[0012] The present application also provides a driving device comprising the coaxial telescopic tubular piezoelectric linear motor.

[0013] In one embodiment of the present application, the driving device further comprises a power supply mechanism and a control mechanism, the power supply mechanism is electrically connected with the piezoelectric ceramic tube of the coaxial telescopic tubular piezoelectric linear motor, and the control mechanism is connected with the power supply mechanism.

[0014] The present application also provides a driving system comprising the coaxial telescopic tubular piezoelectric linear motor.

[0015] The above technical solutions of the present application have the following advantages compared with the prior art: The coaxial telescopic tubular piezoelectric linear motor, drive device, and system described in this invention utilize a special structure between the first and second moving tubes to form a friction pair when they are nested together. The assembly design, which clamps the piezoelectric drive components, enables the first moving tube to move synchronously based on the piezoelectric effect. This allows the second moving tube to drive the load in a continuous and precise motion. In this design, all functional components are arranged along the same axis, significantly reducing the radial dimension and making it suitable for integration into micro-devices. Furthermore, the design of the moving slots and fins on the first moving tube eliminates the need for traditional guide rails, springs, and other parts, reducing assembly complexity and cost. This not only facilitates system integration but also further improves motion accuracy. Compared to conventional piezoelectric drive motors currently available, this application combines advantages such as miniaturization, integration, high precision, and high compatibility, providing a new direction for the development of piezoelectric stick-slip drive technology. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the coaxial telescopic tubular piezoelectric linear motor drive device in a preferred embodiment of the present invention; Figure 2 yes Figure 1 The exploded structural diagram of the coaxial telescopic tubular piezoelectric linear motor drive device is shown below. Figure 3 yes Figure 1 The exploded structural diagram of the stick-slip moving component in the coaxial telescopic tubular piezoelectric linear motor drive device shown. Figure 4 yes Figure 1 An exploded view of the piezoelectric drive assembly in the coaxial telescopic tubular piezoelectric linear motor drive device shown. Figure 5 yes Figure 1 A schematic diagram of the three-dimensional structure of the coaxial telescopic tubular piezoelectric linear motor drive device after the assembly of the stick-slip moving component and the piezoelectric drive component. Figure 6 yes Figure 1 A three-dimensional structural diagram of the coaxial telescopic tubular piezoelectric linear motor drive device after the stick-slip moving component and the piezoelectric drive component are assembled, from another perspective. Figure 7 yes Figure 1 The diagram shows the internal structure of a coaxial telescopic tubular piezoelectric linear motor drive device. Figure 8 yes Figure 1 The diagram shows a cross-sectional view of the coaxial telescopic tubular piezoelectric linear motor drive device in its retracted state. Figure 9 is Figure 1 Cross-sectional structure schematic diagram of coaxial telescopic tubular piezoelectric linear motor driving device in extended state. Figure 10 is Figure 1 Cumulative change curve of positive displacement of the second moving tube body when the piezoelectric ceramic tube is loaded with sawtooth-shaped changing voltage.

[0018] Description of the drawings: 100, stick-slip moving assembly; 110, first moving tube body; 111, moving groove; 112, fin; 120, second moving tube body; 121, pin hole; 122, pin shaft; 123, connecting groove; 200, piezoelectric driving assembly; 210, piezoelectric ceramic tube; 211, wire; 220, limiting porcelain ring; 221, alignment part; 222, first through hole; 230, end cover; 231, clamping groove; 240, patch; 300, support protection assembly; 310, protection tube body; 311, second through hole; 320, first fixed cover; 330, second fixed cover; 340, baffle; 400, friction pair. DETAILED DESCRIPTION

[0019] The present application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it, but the embodiments are not limiting to the present application.

[0020] Example one:

[0021] Referring to Figure 1 and Figure 2As shown, the embodiment provides a coaxial telescopic tubular piezoelectric linear motor, which comprises a stick-slip moving assembly 100, the stick-slip moving assembly 100 comprises a coaxially arranged first moving tube body 110 and a second moving tube body 120, and the first moving tube body 110 is arranged outside the second moving tube body 120, wherein the first moving tube body 110 is provided with a moving groove 111 and a fin 112, the moving groove 111 extends from one end of the first moving tube body 110 to the middle part along the length direction, the fin 112 is arranged at the extension end of the moving groove 111 and protrudes towards the second moving tube body 120 to abut against the outer wall of the second moving tube body 120, the contact part of the fin 112 and the second moving tube body 120 forms a friction pair 400, both ends of the second moving tube body 120 in the length direction are respectively provided with a pin shaft 122 and a connecting groove 123, the pin shaft 122 is fixedly connected in a pin hole 121 of the second moving tube body 120 and is slidingly embedded in the moving groove 111, and an external load can be connected to the connecting groove 123; a piezoelectric driving assembly 200, the piezoelectric driving assembly 200 comprises a piezoelectric ceramic tube 210, the piezoelectric ceramic tube 210 is connected to the first moving tube body 110 and is externally connected to a power supply device.

[0022] The coaxial telescopic tubular piezoelectric linear motor described in the embodiment forms a friction pair 400 by the special structure between the first moving tube body 110 and the second moving tube body 120 in the mutual sleeving state, and then clamps the assembly design of the piezoelectric driving assembly 200, so that it can drive the first moving tube body 110 to move synchronously based on the piezoelectric effect, thereby enabling the second moving tube body 120 to drive the load to realize a continuous and precise movement process. In the above design, all functional components are arranged along the same axis, which significantly reduces the radial size, is suitable for integration in a micro device, and by the design of the moving groove 111 and the fin 112 on the first moving tube body 110, the traditional guide rail, spring and other parts are omitted, which reduces the assembly complexity and cost. Not only is it convenient for system integration, but also can further improve the precision of movement. Compared with the conventional piezoelectric driving motor at the present stage, the application has the advantages of miniaturization, integration, high precision and high compatibility and applicability.

[0023] In this embodiment, the stick-slip moving assembly 100 is the key structure to realize linear motion conversion and load output, and its core function is to convert the micro deformation of the piezoelectric driving assembly 200 into continuous linear motion of the second moving tube body 120 through the alternating action of "sticking-slip". Among them, the first moving tube body 110 is coaxially nested with the second moving tube body 120, when the piezoelectric driving assembly 200 drives the first moving tube body 110 to produce micro deformation, the first moving tube body 110 transmits force and displacement through the friction pair 400 between the fin 112 and the second moving tube body 120, when the first moving tube body 110 slowly deforms, the static friction between the fin 112 and the second moving tube body 120 makes it stick to the first moving tube body 110, and synchronously micro moves with the first moving tube body 110; when the first moving tube body 110 quickly resets, the static friction between the fin 112 and the second moving tube body 120 becomes sliding friction, the second moving tube body 120 keeps the position due to inertia, and finally realizes the one-way stepping motion of the second moving tube body 120. Specifically, see Figure 3 As shown, the moving groove 111 on the first moving tube body 110 provides a sliding track for the pin shaft 122 of the second moving tube body 120, which restricts the second moving tube body 120 to move only in the axial direction, ensuring the accuracy of linear motion. Based on this integrated slotting design, the traditional guide rail structure is simplified, and the number of parts is reduced; the length of the axially extending groove structure can be adjusted as needed to flexibly control the maximum stroke of the second moving tube body 120, which is not specifically limited in the present application.

[0024] The fin 112 abuts against the outer wall of the second moving tube body 120 to form a friction pair 400, which transmits the expansion and contraction force of the piezoelectric ceramic tube 210 through static friction; when the piezoelectric ceramic tube 210 quickly resets, sliding friction occurs between the fin 112 and the second moving tube body 120, realizing the stick-slip effect. The integral fin 112 design on the thin-walled circular tube avoids the complex installation of traditional friction blocks, and enhances the contact stability. Specifically, in this embodiment, the free end of the fin 112 is extruded after the first moving tube body 110 and the second moving tube body 120 are assembled, to ensure that it can be pre-tightened and tightly contacted towards the second moving tube body 120.

[0025] In this embodiment, the second moving tube body 120 is axially guided by the pin shaft 122 cooperating with the moving groove 111 of the first moving tube body 110, and the line contact mode of the pin shaft 122 and the groove reduces the friction resistance and improves the motion smoothness. At the same time, the embedded design avoids the additional space occupation of external guide rails. Further, the connecting groove 123 serves as an interface for external loads, and realizes quick positioning and connection through the groove structure. In different embodiments, the specific shape and size of the connecting groove can be adaptively adjusted according to actual use requirements, so that it can adapt to loads of various shapes, and the present application does not specifically limit this.

[0026] Referring toFigure 4 to Figure 6 As shown, the piezoelectric driving assembly 200 in the embodiment is the power source of the motor, and the core function thereof is to convert electric energy into mechanical deformation to provide driving power for the stick-slip moving assembly 100. In the piezoelectric driving assembly 200, the piezoelectric ceramic tube 210 serves as the core driving element. After being connected with the external power supply device, the piezoelectric ceramic tube 210 generates axial expansion and contraction deformation through the inverse piezoelectric effect under the action of the alternating electric field. The deformation is directly transmitted to the first moving tube body 110, so that the first moving tube body 110 generates periodic micro-displacement, thereby providing the original power for the action of the stick-slip moving assembly 100. In actual use, by adjusting the voltage amplitude, frequency and waveform of the power supply device, the deformation amount, deformation speed and period of the piezoelectric ceramic tube 210 can be accurately controlled, and then the movement rhythm of the first moving tube body 110 is controlled, and finally the step distance, speed and direction of the second moving tube body 120 are regulated. In the embodiment, based on the coaxial expansion and contraction structure cooperation between the piezoelectric driving assembly 200 and the stick-slip moving assembly 100, the driving force is transmitted in the axial direction, which not only reduces energy loss, but also facilitates the overall miniaturization of the motor due to the compact structure, and is suitable for narrow space applications.

[0027] Specifically, the piezoelectric ceramic tube 210 in the embodiment includes a limiting porcelain ring 220, which is arranged at one end of the piezoelectric ceramic tube 210 and is provided with at least one alignment part 221. The alignment part 221 is arranged outwardly protruding from the inner surface of the limiting porcelain ring 220, and at least one alignment part 221 can be embedded in the moving groove 111. In the embodiment, two alignment parts 221 are arranged on the opposite side walls of the limiting porcelain ring 220, and the alignment parts 221 are outwardly protruding from the inner surface of the limiting porcelain ring 220 and embedded in the moving groove 111 of the first moving tube body 110, so as to fix the circumferential position of the limiting porcelain ring 220 relative to the first moving tube body 110 and prevent relative rotation. Further, through the cooperation of the alignment part 221 and the moving groove 111, the piezoelectric ceramic tube 210 and the first moving tube body 110 are strictly coaxial, so as to ensure the transmission of driving force in the axial direction and avoid energy loss or movement deviation caused by radial component force.

[0028] Further, the limiting porcelain ring 220 of the piezoelectric driving assembly 200 further includes a first through hole 222. The piezoelectric ceramic tube 210 is connected with the external power supply device through a lead wire 211, and the lead wire 211 is arranged from the inside of the limiting porcelain ring 220 to the outside thereof through the first through hole 222. Specifically, the first through hole 222 in the embodiment is arranged on one of the alignment parts 221.

[0029] In the embodiment, the piezoelectric driving assembly 200 further comprises an end cap 230 and a patch 240, the end cap 230 is arranged at the two ends of the piezoelectric ceramic tube 210 in the length direction respectively with the limiting porcelain ring 220, one end of the end cap 230 is provided with a clamping groove 231, the other end is connected with the patch 240, and the piezoelectric ceramic tube 210 can be inserted into the clamping groove 231. Specifically, the end cap 230 tightly matches with the end of the piezoelectric ceramic tube 210, rigidly supports the piezoelectric ceramic tube 210, and prevents the piezoelectric ceramic tube 210 from bending or displacement deviation in the stretching and contracting process. The groove structure can increase the contact area, disperse the stress, and avoid the ceramic tube from being broken due to stress concentration. Specifically, the end cap 230 in the embodiment is preferably made of stainless steel, and in different embodiments, it can also be made of other metal materials, so as to constrain the axial movement of the piezoelectric ceramic tube 210 together with the limiting porcelain ring 220 by using the high rigidity thereof, and ensure that the deformation energy is concentrated on the driving first moving tube body 110. Further, the patch 240 is attached to the outer side of the end cap 230, and is usually made of elastic material, which is used to absorb the high-frequency vibration generated in the stretching and contracting process of the piezoelectric ceramic tube 210, reduce the impact and noise on the external structure, and also has the effects of sealing and protection. In addition, the patch 240 can also support the first moving tube body 110, so as to improve the stability of the overall structure.

[0030] Referring to Figure 7 In the embodiment, the coaxial telescopic tubular piezoelectric linear motor further comprises a support protection assembly 300, the support protection assembly 300 comprises a protection tube body 310, the stick-slip moving assembly 100 and the piezoelectric driving assembly 200 are arranged inside the protection tube body 310 and arranged coaxially with the protection tube body 310. In the coaxial telescopic tubular piezoelectric linear motor, the protection tube body 310 of the support protection assembly 300 has multiple functions such as structural support, motion guidance, environmental isolation and heat dissipation, which significantly improves the performance and reliability of the motor. On the one hand, as the external framework of the whole motor, the protection tube body 310 ensures that the first moving tube body 110, the second moving tube body 120 and the piezoelectric ceramic tube 210 are strictly coaxial, reduces the radial force caused by assembly deviation, and improves the motion accuracy. On the other hand, the protection tube body 310 can withstand external impact or vibration without deformation, and protects the internal precision components.

[0031] Further, the protective tube body 310 is provided with a second through hole 311, and the piezoelectric ceramic tube 210 is connected with an external power supply device through a wire 211, and the wire 211 is arranged from the inside of the limiting porcelain ring 220 to the outside through the second through hole 311. The second through hole 311 provides a safe path for the wire 211 of the piezoelectric ceramic tube 210, and after the wire 211 is arranged from the first through hole 222 of the limiting porcelain ring 220 to the outside through the second through hole 311 of the protective tube body 310, the wire 211 is arranged to the external power supply device, which avoids the wire 211 from being wound or rubbed inside, and ensures the stability of the circuit.

[0032] Further, the support protection assembly 300 in the embodiment further includes a first fixed cover 320, a second fixed cover 330 and a baffle 340, the first fixed cover 320 and the second fixed cover 330 are arranged at two ends of the protective tube body 310 respectively, and the first fixed cover 320 is arranged close to the piezoelectric driving assembly 200, and the baffle 340 is arranged between the second fixed cover 330 and the protective tube body 310. The first fixed cover 320 provides axial support for the piezoelectric driving assembly 200 and prevents external pollutants from invading. The second fixed cover 330 is clamped with the end of the protective tube body 310 through an annular groove, an inner stepped surface provides installation and positioning for the baffle 340, and an outer side can be provided with a threaded interface for connecting an external device, so as to realize quick integration of the motor. The baffle 340 can buffer impact force through elastic deformation, so as to prevent the pin shaft 122 from being separated from the moving groove 111, thereby ensuring the functional integrity.

[0033] In the embodiment, Figure 8 The internal schematic diagram of the coaxial telescopic tubular piezoelectric linear motor driving device in the contracted state is shown, and correspondingly, Figure 9 The internal schematic diagram of the coaxial telescopic tubular piezoelectric linear motor driving device in the extended state is shown. In the actual operation process, the actual moving path of the second moving tube body 120 is recorded by applying a sawtooth-shaped changing voltage on the piezoelectric ceramic tube 210, and specific reference is made to Figure 10As shown, at 0-t1, the voltage slowly rises to the maximum value, the piezoelectric ceramic tube 210 slowly shortens to drive the limit porcelain ring 220 to move, and then the displacement is transmitted to the second moving tube body 120 through the static friction between the first moving tube body 110 and the second moving tube body 120, and the common positive displacement of the two is D1; at t1-t2, the voltage rapidly drops to zero, the piezoelectric ceramic tube 210 elongates to recover, the first moving tube body 110 rapidly resets to the initial position, while the second moving tube body 120 reverses slowly due to inertia, and the sliding friction between the first moving tube body 110 and the second moving tube body 120 is generated, and the second moving tube body 120 is kept at the displacement D2 at t2. That is, the piezoelectric stick-slip effect is generated. The sawtooth-shaped voltage is continuously loaded on the piezoelectric ceramic tube 210, that is, the accumulation of the positive displacement of the second moving tube body 120 is realized, and the process from D2 to D4 to D6 is specifically referred to by Figure 10 the piezoelectric ceramic tube 210 is continuously loaded with the voltage which rapidly rises and then slowly drops, the continuous and precise reverse displacement process of the second moving tube body 120 driving the load is realized.

[0034] Embodiment two:

[0035] The embodiment provides a driving device, which comprises the coaxial telescopic tubular piezoelectric linear motor in embodiment one. Further, the driving device in the embodiment further comprises a power supply mechanism and a control mechanism, the power supply mechanism is electrically connected with the piezoelectric ceramic tube 210 of the coaxial telescopic tubular piezoelectric linear motor, and the control mechanism is connected to the power supply mechanism.

[0036] Embodiment three:

[0037] The embodiment provides a driving system, which comprises the coaxial telescopic tubular piezoelectric linear motor in embodiment one.

[0038] To sum up, the coaxial telescopic tubular piezoelectric linear motor, driving device and system can form a friction pair 400 in the mutual sleeving condition through the special structure between the first moving tube body 110 and the second moving tube body 120, and then clamp the assembly design of the piezoelectric driving assembly 200, so that the first moving tube body 110 can be driven to move synchronously based on the piezoelectric effect, thereby enabling the second moving tube body 120 to drive the load to realize a continuous and precise movement process. In the above design, all functional components are arranged along the same axis, which significantly reduces the radial size, is suitable for integration in a micro device, and through the design of the moving groove 111 and the fin 112 on the first moving tube body 110, the traditional guide rail, spring and other parts are omitted, and the assembly complexity and cost are reduced. Not only is it convenient for system integration, but also can further improve the precision of movement. Compared with the conventional piezoelectric driving motor at the present stage, the application has the advantages of miniaturization, integration, high precision and high compatibility and applicability, and provides a new development direction for the piezoelectric stick-slip driving technology.

[0039] Obviously, the above embodiments are only examples for clearly illustrating, and are not limited to the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A coaxial telescopic tubular piezoelectric linear motor, characterized in that: include: A stick-slip moving assembly includes a first moving tube and a second moving tube arranged coaxially, with the first moving tube disposed outside the second moving tube. The first moving tube is provided with a moving groove and fins. The moving groove extends from one end of the first moving tube toward its center along its length. The fins are disposed at the extended end of the moving groove and protrude toward the second moving tube to abut against the outer wall of the second moving tube. The contact portion between the fins and the second moving tube forms a friction pair. The two ends of the second moving tube along its length are respectively provided with a pin and a connecting groove. The pin is slidably embedded in the moving groove, and an external load can be passed through and connected to the connecting groove. A piezoelectric drive assembly, comprising a piezoelectric ceramic tube connected to the first movable tube body and externally powered.

2. The coaxial telescopic tubular piezoelectric linear motor according to claim 1, characterized in that: The piezoelectric drive assembly includes a limiting ceramic ring disposed at one end of the piezoelectric ceramic tube, and has at least one alignment portion thereon. The alignment portion protrudes outward from the inner surface of the limiting ceramic ring, and at least one of the alignment portions can be embedded in the moving groove.

3. The coaxial telescopic tubular piezoelectric linear motor according to claim 2, characterized in that: The limiting ceramic ring also includes a first through hole, and the piezoelectric ceramic tube is connected to an external power supply device through a wire. The wire passes through the first through hole from the inside of the limiting ceramic ring to the outside.

4. The coaxial telescopic tubular piezoelectric linear motor according to claim 2, characterized in that: The piezoelectric drive assembly also includes an end cap and a patch. The end cap and the limiting ceramic ring are respectively disposed at both ends of the piezoelectric ceramic tube along its length. One end of the end cap is provided with a snap-fit ​​groove, and the other end is connected to the patch. The piezoelectric ceramic tube can be inserted into the snap-fit ​​groove.

5. The coaxial telescopic tubular piezoelectric linear motor according to claim 2, characterized in that: The coaxial telescopic tubular piezoelectric linear motor also includes a support and protection assembly, which includes a protective tube body. The stick-slip moving assembly and the piezoelectric driving assembly are both disposed inside the protective tube body and are coaxially arranged with the protective tube body.

6. The coaxial telescopic tubular piezoelectric linear motor according to claim 5, characterized in that: The protective tube body is provided with a second through hole, and the piezoelectric ceramic tube is connected to an external power supply device through a wire. The wire passes through the second through hole from the inside of the limiting ceramic ring to the outside.

7. The coaxial telescopic tubular piezoelectric linear motor according to claim 6, characterized in that: The support and protection assembly further includes a first fixed cover, a second fixed cover, and a baffle. The first fixed cover and the second fixed cover are respectively disposed at both ends of the protective tube body, with the first fixed cover disposed close to the piezoelectric drive assembly and the baffle disposed between the second fixed cover and the protective tube body.

8. A driving device, characterized in that: Including the coaxial telescopic tubular piezoelectric linear motor as described in any one of claims 1 to 7.

9. The driving device according to claim 8, characterized in that: The drive device also includes a power supply mechanism and a control mechanism. The power supply mechanism is electrically connected to the piezoelectric ceramic tube of the coaxial telescopic tubular piezoelectric linear motor, and the control mechanism is connected to the power supply mechanism.

10. A drive system, characterized in that: Including the coaxial telescopic tubular piezoelectric linear motor as described in any one of claims 1 to 7.

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