Clamping and driving integration-based non-return piezoelectric rotary motor

Abstract

The invention relates to the field of precision driving and positioning, in particular to a clamping and driving integration-based non-return piezoelectric rotary motor, which comprises a base, a bearing rotor, a stator mechanism and a pre-tightening mechanism, the outer ring of the bearing rotor is fixed in the upper seat body; the pre-tightening mechanism comprises a pre-tightening sliding block, a pre-tightening bolt, a pre-tightening stop block and a pre-tightening bolt which are fixed in the lower seat body; the stator mechanism comprises a stator ring, a clamping piezoelectric plate, an auxiliary block, an auxiliary foot and the like which are arranged in the horizontal direction. According to the technical scheme, driving and clamping integration of the piezoelectric motor is achieved, the structure is simple, single harmonic driving is adopted, and the energy conversion efficiency is good when the piezoelectric motor works in a resonance state. Compared with other motors of the same type, sliding friction does not exist in the operation process, the sliding back phenomenon is restrained, abrasion of the motor in the operation process is reduced through the working mode that single driving is sufficient to drive the inner ring rotor in an elliptical track mode, the motor operates stably, and the service life of the motor is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision driving and positioning, and particularly relates to a non-back-off piezoelectric rotary motor based on clamping driving integration. BACKGROUND

[0002] In recent decades, with the increasing demand for actuators in engineering applications, piezoelectric motors have developed rapidly. Piezoelectric motors use the inverse piezoelectric effect of piezoelectric materials to convert input electrical energy into output mechanical energy. Compared with traditional electromagnetic motors, piezoelectric motors have the advantages of simple structure, fast driving response, high controllability, no electromagnetic interference during operation, self-destruction phenomenon under overload and overpressure, self-locking after power failure, and can work in extreme environments such as vacuum and low temperature. Piezoelectric motors are widely used in precision machining, precision positioning and tracking, scanning systems, high-precision biological medical treatment and other fields with high requirements for piezoelectric driver precision and size.

[0003] At present, there are many types of piezoelectric motors, which can be mainly divided into ultrasonic motors, inchworm motors and inertial impact motors according to their working principles. Although piezoelectric motors have great potential in high-efficiency applications, they still face some technical challenges in actual operation. From the perspective of working principle, inertial impact type piezoelectric motors have the advantages of large stroke and simple structure. However, the problem of positioning accuracy caused by friction and wear and backsliding effect has not been solved. An existing piezoelectric stick-slip rotary actuator using asynchronous driving and double stators reduces the backsliding phenomenon. However, the problems of sliding friction and reverse sliding still exist, making such actuators unsuitable for long-term operation. SUMMARY

[0004] The present application aims to overcome the above-mentioned drawbacks and provides a non-back-off piezoelectric rotary motor based on clamping driving integration.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a non-back-off piezoelectric rotary motor based on clamping driving integration, comprising a base, a bearing rotor, a stator mechanism and a pre-tightening mechanism. The base is composed of an upper seat body and a lower seat body, the upper seat body is in a hollow columnar structure as a whole, and the outer ring of the bearing rotor is fixed in the upper seat body; The pre-tightening mechanism includes a pre-tightening block fixed in the lower seat body and a pre-tightening block connected with the pre-tightening block through a pre-tightening bolt, and a pre-tightening spring is sleeved on the pre-tightening bolt between the pre-tightening block and the pre-tightening block; The stator mechanism comprises a horizontally arranged stator ring, the stator ring is provided with a driving stator, a first mounting plate, a base fixing plate and a second mounting plate along the circumferential direction, the inner side plate surface of the first mounting plate and the second mounting plate is respectively fixed with a clamping piezoelectric piece, the outer side plate surface of the first mounting plate is fixed with an auxiliary block, the outer side plate surface of the second mounting plate is fixed with an auxiliary foot, the base fixing plate is connected with a stator ring fixing seat to make the stator ring and the driving stator in a suspended state, the stator ring fixing seat is fixed with a pre-tightening sliding block, and the auxiliary foot and the driving foot of the driving stator are simultaneously contacted with the inner ring of the bearing rotor through the adjustment of the pre-tightening bolt.

[0006] The inner wall of the upper seat body is provided with a sink for positioning and mounting the bearing rotor, and the bottom of the upper seat body is symmetrically provided with a positioning protrusion; the lower seat body is in a columnar structure and concentric with the upper seat body, the top surface of the lower seat body is provided with a first groove in the radial direction, the first groove is positioned in cooperation with the positioning protrusion and is fixed through a screw, and the top surface of the lower seat body is also provided with a second groove, the second groove is used for mounting a pre-tightening mechanism and is perpendicular to the first groove, and the second groove and the first groove form a cross structure as a whole.

[0007] The bearing rotor is a non-standard bearing, the top surface of the inner ring of the bearing rotor is higher than the outer ring, the bearing rotor is placed on the sink of the upper seat body, and the outer ring of the bearing rotor is fixedly attached to the inner wall of the upper seat body.

[0008] The pre-tightening sliding block and the pre-tightening block are both square block bodies, the middle of the end surface of the pre-tightening sliding block close to the pre-tightening block is provided with a groove, the two sides of the groove are symmetrically provided with U-shaped grooves, the U-shaped grooves are provided with screws for connecting the pre-tightening sliding block and the lower seat body, the lower seat body, the pre-tightening sliding block and the pre-tightening block are all provided with threaded holes matched with the pre-tightening bolt, one end of the pre-tightening spring abuts against the groove bottom, and the other end of the pre-tightening spring abuts against the pre-tightening block.

[0009] The stator ring fixing seat comprises a stepped platform, the high step surface of the platform is provided with a connecting block forming an integral structure with the platform, the connecting block is located at the inner side plate surface of the base fixing plate, the outer side plate surface of the base fixing plate is provided with a mounting baffle, the base fixing plate is fixed between the mounting baffle and the connecting block through a screw, and the stator ring fixing seat and the pre-tightening sliding block are fixed through a screw.

[0010] The stator ring is provided with a notch for mounting the driving stator, and the two sides of the notch are respectively provided with a driving stator connecting plate; the driving stator comprises a mounting seat fixed with the driving stator connecting plate, one side of the mounting seat is connected with a driving foot, and the driving foot is located outside the stator ring; the other side of the mounting seat is connected with an elastic vibrator, and the elastic vibrator is located inside the stator ring; the mounting seat, the driving foot and the elastic vibrator are integrally formed; the elastic vibrator is provided with driving piezoelectric sheets and mass blocks, and the driving piezoelectric sheets and the mass blocks are arranged in pairs.

[0011] The mounting seat is in the shape of T as a whole, comprising a first plate fixed with the driving stator connecting plate and a second plate vertically connected to the outer side surface of the first plate; a composite flexible hinge is arranged at the connection between the first plate and the second plate; the driving foot is connected to the end of the second plate, and the end surface of the driving foot in contact with the bearing mover is arc-shaped; the two side surfaces of the end of the elastic vibrator are respectively fixed with mass blocks, and the elastic vibrator between the mass blocks and the first plate is respectively fixed with driving piezoelectric sheets on the two side surfaces.

[0012] The auxiliary block is a longitudinally arranged rectangular thin plate body, the auxiliary foot comprises a plate body fixed with the second mounting plate and a foot body connected to the outer side surface of the plate body, and the end surface of the foot body in contact with the bearing mover is arc-shaped; the mass of the auxiliary block and the auxiliary foot is equal.

[0013] The materials of the driving piezoelectric sheets and the clamping piezoelectric sheets are both piezoelectric ceramic PZT-4.

[0014] The beneficial effects of the present application are as follows: 1. The present application realizes the integration of driving and clamping of the piezoelectric motor, has a simple structure, and all adopts single harmonic driving, works in a resonant state, and has good energy conversion efficiency. Compared with other motors of the same type, there is no sliding friction phenomenon in the running process, and the backsliding phenomenon is suppressed, the working mode of the single driving foot driving the inner ring mover in an elliptical trajectory greatly reduces the wear of the motor in the working process, makes the motor run stably, and prolongs the service life of the motor.

[0015] 2. The present application forms the elliptical motion trajectory of the driving foot and the “clamping-release” action of the auxiliary foot through the modal coupling of the driving stator and the stator ring, realizes the bidirectional rotation of the inner ring mover. At the same time, the radial clamping force provided by the driving foot and the auxiliary foot further optimizes the load performance of the piezoelectric motor. Compared with the traditional piezoelectric stack driving, the present application has a significant low-cost advantage, and can be applied to conventional working voltage (≥40V P-P） environment, and has wide application potential.

[0016] 3. This invention employs harmonic signals, with the driving foot and auxiliary foot respectively achieving drive and anti-reverse functions, thus better controlling the piezoelectric motor and improving system accuracy. Furthermore, the "clamping-releasing" state of the driving foot during movement avoids harmful friction, improving motor efficiency. When the piezoelectric motor operates at a frequency of 2500.9 Hz, its maximum no-load speed is 618.9 mrad / s (120V). P-P The maximum torque load is 25.18 mN•m.

[0017] 4. This invention provides a piezoelectric rotary motor with integrated clamping and driving mechanism, featuring a simple structure that facilitates precision manufacturing. Both mechanisms utilize two sets of coordinated harmonic signals for driving, synthesizing the elliptical trajectory of the driving foot and the "clamping-release" motion of the auxiliary foot. During the driving phase, the stator's driving foot transmits power and radially clamps the rotor to enhance load capacity. In the non-driving phase, the auxiliary foot continuously clamps, effectively preventing slippage and thus improving angular displacement resolution and load performance.

[0018] 5. The motor of this invention simplifies control. The elliptical trajectory drive of the single-drive foot solves the wear and heat problems caused by friction. Furthermore, it operates in a resonant state, resulting in better energy conversion efficiency. Compared with other motors of the same type, it features anti-reverse and convenient power control. The integrated stator simplifies the stator structure and reduces motor cost. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the base of the present invention; Figure 4 yes Figure 3 A schematic diagram of the decomposed structure; Figure 5 This is a schematic diagram of the upper seat of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the upper seat of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the structure of the lower seat of the present invention; Figure 8 This is a schematic diagram of the bearing mover of the present invention; Figure 9 This is a schematic diagram of the stator mechanism of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the stator mechanism of the present invention. Figure 2 ; Figure 11 is the exploded structural schematic diagram of the stator mechanism of the present application; Figure 12 is the structural schematic diagram of the stator ring of the present application; Figure 13 is the exploded structural schematic diagram of Figure 12 ; Figure 14 is the structural schematic diagram of the driving stator of the present application; Figure 15 is the overall schematic diagram of the elastic vibrator, driving foot and mounting seat of the present application; Figure 16 is the structural schematic diagram of the stator ring fixing seat of the present application; Figure 17 is the structural schematic diagram of the pre-tightening mechanism of the present application Figure 1 ; Figure 18 is the structural schematic diagram of the pre-tightening mechanism of the present application Figure 2 ; Figure 19 is the mounting structural schematic diagram of the pre-tightening mechanism and the lower seat body of the present application; Figure 20 is the mounting structural schematic diagram of the pre-tightening mechanism, the lower seat body and the stator mechanism of the present application; Figure 21 is the structural principle diagram of the present application; Figure 22 is the piezoelectric motor excitation electric signal of the present application; Figure 23 is the working principle diagram of the piezoelectric motor of the present application in Figure 22 t0~t1; Figure 24 is the working principle diagram of the piezoelectric motor of the present application in Figure 22 t1~t2; Figure 25 is the working principle diagram of the piezoelectric motor of the present application in Figure 22 t2~t3; Figure 26 is the working principle diagram of the piezoelectric motor of the present application in Figure 22 t3~t4.

[0020] The marks in the above drawings are: base 1, upper seat body 11, sink 111, positioning protrusion 112, lower seat body 12, first recess 121, second recess 122, bearing rotor 2, inner ring rotor 21, stator mechanism 3, stator ring 31, first mounting plate 311, base fixing plate 312, second mounting plate 313, notch 314, driving stator connecting plate 315, driving stator 32, mounting seat 321, first plate 3211, second plate 3212, composite flexible hinge 3213, driving foot 322, elastic vibrator 323, driving piezoelectric piece 324, mass 325, clamping piezoelectric piece 33, auxiliary block 34, auxiliary foot 35, plate body 351, foot body 352, stator ring fixing seat 36, platform 361, connecting block 362, mounting baffle 37, pre-tightening mechanism 4, pre-tightening sliding block 41, recess 411, U-shaped groove 412, pre-tightening bolt 42, pre-tightening stop block 43, pre-tightening spring 44. DETAILED DESCRIPTION

[0021] The application will be further described below in combination with the drawings: As Figure 1 , Figure 2 shown, a clamping driving integrated check and retreat piezoelectric rotary motor includes a base 1, a bearing rotor 2, a stator mechanism 3 and a pre-tightening mechanism 4.

[0022] Further, as Figures 3-7 shown, the base 1 is composed of an upper seat body 11 and a lower seat body 12. The upper seat body 11 is in a hollow columnar structure as a whole, and the lower seat body 12 is in a columnar structure as a whole. The lower seat body 12 is concentric with the upper seat body 11. Specifically, the inner wall of the upper seat body 11 is provided with a sink 111 for positioning and mounting the bearing rotor 2. The bottom of the upper seat body 11 is symmetrically provided with positioning protrusions 112. The top surface of the lower seat body 12 is provided with a first recess 121 in the radial direction. The first recess 121 is positioned in cooperation with the positioning protrusions 112 and is fixed by screws. The top surface of the lower seat body 12 is also provided with a second recess 122. The second recess 122 is used for mounting the pre-tightening mechanism 4 and is perpendicular to the first recess 121. The second recess 122 and the first recess 121 form a cross-shaped structure as a whole.

[0023] Further, as Figure 8 shown, the bearing rotor 2 is a non-standard bearing. The top surface of the inner ring of the bearing rotor 2 is higher than the outer ring, that is, the inner ring of the bearing rotor 2 is raised as an inner ring rotor 21. The outer ring of the bearing rotor 2 is fixed in the upper seat body 11. Specifically, the bearing rotor 2 is placed on the sink 111 of the upper seat body 11, and the outer ring of the bearing rotor 2 is adhesively fixed with the inner wall of the upper seat body 11.

[0024] Further, as Figures 9-13As shown, the stator mechanism 3 comprises a stator ring 31 arranged horizontally, the stator ring 31 is provided with a driving stator 32, a first mounting plate 311, a base fixing plate 312 and a second mounting plate 313 along the circumference thereof, the stator ring 31 is provided with a slot 314 for mounting the driving stator 32, and the slot 314 is provided with a driving stator connecting plate 315 on both sides thereof. That is, the stator ring 31 is in a C shape as a whole, and the opening thereof is the slot 314 for mounting the driving stator 32, and the driving stator 32 is mounted at the slot 314 so that the stator ring 31 forms a closed loop structure.

[0025] Further, the inner side plate surface of the first mounting plate 311 and the second mounting plate 313 is respectively fixed with a clamping piezoelectric piece 33 for providing clamping function and stable support. The outer side plate surface of the first mounting plate 311 is fixed with an auxiliary block 34, and the outer side plate surface of the second mounting plate 313 is fixed with an auxiliary foot 35. The auxiliary foot 35 clamps the bearing rotor when the driving gap is driven, and plays a role of non-return. Since the stator is provided with the auxiliary foot, the structure on both sides thereof is asymmetric, and when the stator ring expands in the longitudinal direction, the displacement direction of the driving foot will have a small angle in the longitudinal direction. If the angle is too large, it may cause the difference between the counterclockwise and clockwise rotation rates of the brake, and affect the working stability. Therefore, the auxiliary block 34 is added to reduce the angle. In the embodiment, the auxiliary block 34 is a longitudinally arranged rectangular thin plate body, the auxiliary foot 35 comprises a plate body 351 fixed with the second mounting plate 313 and a foot body 352 connected to the outer side surface of the plate body 351, and the plate body 351 and the foot body 352 are in an integrated structure. Preferably, the mass of the auxiliary block 34 is equal to that of the auxiliary foot 35, which increases the motion stability of the stator when it is excited.

[0026] Further, the base fixing plate 312 is connected with a stator ring fixing seat 36 so that the stator ring 31 and the driving stator 32 are in a suspended state. Specifically, as shown in Figure 16 The stator ring fixing seat 36 comprises a stepped platform 361, the high step surface of the platform 361 is provided with a connecting block 362 which is in an integrated structure with the platform 361, the connecting block 362 is located on the inner side plate surface of the base fixing plate 312, the outer side plate surface of the base fixing plate 312 is provided with a mounting baffle 37, the base fixing plate 312 is fixed between the mounting baffle 37 and the connecting block 362 through screws, and the stator ring fixing seat 36 is fixed between the pre-tightening sliding block 41 through screws. The stepped platform 361 can ensure that the stator ring 31 and the driving stator 32 are suspended, and when excited, the stator ring 31 and the driving stator 32 do not interfere with the platform 361, which ensures the stable operation of the motor. At the same time, the connecting block 362 and the mounting baffle 37 sandwich the base fixing plate 312 on the stator ring 31 and fasten the three through screws, which can ensure the reliability of assembly and the stability of structure.

[0027] Further, the stator ring fixing seat 36 is fixed with the pre-tightening block 41 through a screw, and the auxiliary foot 35 and the driving foot 322 of the driving stator 32 are simultaneously in contact with the inner ring of the bearing rotor 2 by adjusting the pre-tightening bolt 42. Preferably, the end surface of the foot body 352 and the driving foot 322 in contact with the bearing rotor 2 are arc surfaces.

[0028] Further, as shown in Figure 14 、 Figure 15 , the driving stator 32 comprises a mounting seat 321 fixed with the driving stator connecting plate 315, one side of the mounting seat 321 is connected with the driving foot 322, and the driving foot 322 is located outside the stator ring 31, and the other side of the mounting seat 321 is connected with the elastic vibrator 323, the elastic vibrator 323 is a thin plate structure, the elastic vibrator 323 is located inside the stator ring 31, and the mounting seat 321, the driving foot 322 and the elastic vibrator 323 are integrally formed. The driving piezoelectric sheet 324 and the mass block 325 are arranged on the elastic vibrator 323, and the driving piezoelectric sheet 324 and the mass block 325 are arranged in pairs, and the mass block 325 is used to adjust the modal frequency and increase the amplitude of the elastic vibrator 323. More specifically, the mounting seat 321 is in the shape of T as a whole, comprising a first plate 3211 fixed with the driving stator connecting plate 315 and a second plate 3212 connected perpendicularly to the outer side of the first plate 3211, and a composite flexible hinge 3213 is arranged at the connection between the first plate 3211 and the second plate 3212. The composite flexible hinge 3213 has the ability of flexible deformation, can realize flexible connection and energy transmission, and can enhance the elastic vibration of the driving stator 32 while also amplifying the swing of the driving foot 322. The driving foot 322 is connected to the end of the second plate 3212, the mass block 325 is fixed to the two side surfaces of the end of the elastic vibrator 323, and the driving piezoelectric sheet 324 is fixed to the elastic vibrator 323 between the mass block 325 and the first plate 3211.

[0029] The composite flexible hinge 3213 is generally composed of a plurality of single-sided flexible hinges in different directions. In the working mode of the piezoelectric rotary motor, the driving stator 32 and the stator ring 31 make the driving foot 322 do resonant motion along the x-axis and y-axis directions respectively, so as to generate the elliptical trajectory of the driving foot 322. As a key structure connecting the stator ring 31 and the driving stator 32, the composite flexible hinge 3213 in the stator mechanism 3 plays an important role in the overall performance. Therefore, the composite flexible hinge 3213 in the embodiment is designed by combining two single-sided flexible hinges in different directions to ensure its mechanical properties and motion coordination.

[0030] The materials of the driving piezoelectric sheet 324 and the clamping piezoelectric sheet 33 in the embodiment are both piezoelectric ceramic PZT-4.

[0031] Further, as shown in Figures 17-20As shown, the pre-tightening mechanism 4 comprises a pre-tightening slider 41 fixed in the lower seat body 12 and a pre-tightening block 43 connected with the pre-tightening slider 41 through a pre-tightening bolt 42, and a pre-tightening spring 44 is sleeved on the pre-tightening bolt 42 between the pre-tightening slider 41 and the pre-tightening block 43. Specifically, the pre-tightening slider 41 and the pre-tightening block 43 are both square block bodies, a recess 411 is arranged at the middle of the end face of the pre-tightening slider 41 close to the pre-tightening block 43, U-shaped grooves 412 are symmetrically arranged on both sides of the recess 411, screws for connecting the pre-tightening slider 41 and the lower seat body 12 are arranged in the U-shaped grooves 412, threaded holes matched with the pre-tightening bolt 42 are arranged on the lower seat body 12, the pre-tightening slider 41 and the pre-tightening block 43, one end of the pre-tightening spring 44 abuts against the groove bottom of the recess 411, and the other end of the pre-tightening spring 44 abuts against the pre-tightening block 43. Through pre-tightening and fixing of the pre-tightening bolt 42, the driving foot 322 and the auxiliary foot 35 of the stator mechanism 3 are in contact with the inner ring of the bearing rotor 2, after the pre-tightening force is adjusted, the pre-tightening slider 41 and the lower seat body 12 are fastened through the screws in the U-shaped grooves 412, so as to lock the pre-tightening force.

[0032] In operation, harmonic excitation signals with a phase difference of 90° are respectively input to the pair of driving piezoelectric pieces 324 of the driving stator 32 and the pair of clamping piezoelectric pieces 33 on the stator ring 31, so that the driving foot 322 and the elastic vibrator 323 of the driving stator 32 realize transverse reciprocating swing in a cycle, and the stator ring 31 generates alternating “expansion-shrinkage” movements in the longitudinal and transverse directions in a cycle. When the stator ring 31 expands longitudinally and shrinks transversely, the driving foot 322 clamps the inner ring rotor 21 of the bearing rotor 2 and drives it to rotate, and the auxiliary foot 35 is away from the inner ring; when the stator ring 31 shrinks longitudinally and expands transversely, the driving foot 322 is away from the inner ring rotor 21 of the bearing rotor 2, and the auxiliary foot 35 clamps the inner ring rotor 21 to inhibit the back sliding of the inner ring rotor 21. The swing direction of the driving foot 322 when clamping and driving the inner ring rotor 21 determines the movement direction of the inner ring rotor 21. By adjusting the phase difference of the input harmonic excitation signals, the counterclockwise or clockwise bidirectional rotation of the inner ring rotor 21 can be realized; by cyclically inputting the excitation signals, the stable bidirectional rotation of the inner ring rotor 21 can be realized.

[0033] The working principle of the application is described in detail as follows: The structure of the application is simplified as Figure 21 . Referring to Figure 22 , harmonic excitation signals with a phase difference of 90° are respectively input to the pair of driving piezoelectric pieces 324 of the driving stator 32 and the pair of clamping piezoelectric pieces 33 on the stator ring 31, so that the driving foot 322 and the elastic vibrator 323 of the driving stator 32 realize transverse reciprocating swing in a cycle, and the stator ring 31 generates alternating “expansion-shrinkage” movements in the longitudinal and transverse directions in a cycle, forming the elliptical movement trajectory of the driving foot 322 and the “clamping-release” action of the auxiliary foot 35.

[0034] Analysis of the working principle of the motor in a cycle: At t0, the elastic vibrator 323 of the stator 32 is at the rightmost position, and the stator ring 31 is at the initial state. As shown in Fig. 2, in t0-t1, the stator ring 31 expands longitudinally from the initial position to the maximum position. The auxiliary foot 35 and the inner ring mover 21 are separated, the inner ring mover 21 is released, the elastic vibrator 323 swings back from the rightmost position to the initial position, the driving foot 322 clamps and drives the inner ring mover 21 to rotate, and the inner ring mover 21 rotates clockwise by an angle θ1. Figure 23 As shown in Fig. 3, in t1-t2, the stator ring 31 shrinks from the longitudinally expanded maximum position to the initial position, the auxiliary foot 35 and the inner ring mover 21 are separated, the inner ring mover 21 remains released, the elastic vibrator 323 moves from the initial position to the leftmost biased position, the driving foot 322 clamps and drives the inner ring mover 21 to rotate, and the inner ring mover 21 rotates clockwise by an angle θ2. As shown in Fig. 4, in t2-t3, the stator ring 31 expands transversely from the initial position to the maximum position, the auxiliary foot 35 clamps the inner ring mover 21, and the driving foot 322 moves away from the inner ring mover 21, and the inner ring mover 21 is static. Figure 24 As shown in Fig. 5, in t3-t4, the stator ring 31 recovers from the transversely expanded maximum position to the initial position, the auxiliary foot 35 remains clamped with the inner ring mover 21, the driving foot 322 is separated from the inner ring mover 21, and the inner ring mover 21 remains static. As shown in Fig. 6, in t4-t5, the stator ring 31 expands longitudinally from the initial position to the maximum position, the auxiliary foot 35 and the inner ring mover 21 are separated, the inner ring mover 21 is released, the elastic vibrator 323 swings from the initial position to the leftmost position, the driving foot 322 clamps and drives the inner ring mover 21 to rotate, and the inner ring mover 21 rotates clockwise by an angle θ3. Figure 25 As shown in Fig. 7, in t5-t6, the stator ring 31 shrinks from the longitudinally expanded maximum position to the initial position, the auxiliary foot 35 and the inner ring mover 21 are separated, the inner ring mover 21 remains released, the elastic vibrator 323 moves from the initial position to the rightmost biased position, the driving foot 322 clamps and drives the inner ring mover 21 to rotate, and the inner ring mover 21 rotates clockwise by an angle θ4. As shown in Fig. 8, in t6-t7, the stator ring 31 expands transversely from the initial position to the maximum position, the auxiliary foot 35 clamps the inner ring mover 21, and the driving foot 322 moves away from the inner ring mover 21, and the inner ring mover 21 is static. Figure 26 As shown in Fig. 9, in t7-t8, the stator ring 31 recovers from the transversely expanded maximum position to the initial position, the auxiliary foot 35 remains clamped with the inner ring mover 21, the driving foot 322 is separated from the inner ring mover 21, and the inner ring mover 21 remains static. In t0-t4, the inner ring mover 21 rotates clockwise by an angle θ=θ1+θ2. Therefore, using a continuous harmonic signal will make the inner ring mover 21 continuously rotate clockwise without backtracking, and the counterclockwise reverse movement of the driver can be realized by changing the phase difference of the excitation signal of the clamped piezoelectric sheet 33 and the driving piezoelectric sheet 324.

[0035] In the present application, when the working frequency of the piezoelectric motor is 2500.9 Hz, the maximum speed of the no-load operation is 618.9 mrad / s, and the maximum torque load is 25.18 mN•m.

[0036] In summary, the stator mechanism of the application includes a driving stator 32 and a stator ring 31, which realizes the bidirectional rotation of the inner ring mover 21 by the driving foot 322 and the auxiliary foot 35 through the input of the harmonic excitation signal with a phase difference of 90°. The driving foot 322 drives the inner ring mover 21 through an elliptical trajectory, and the auxiliary foot 35 inhibits the backsliding through the “clamping-release” action. By adjusting the phase difference of the harmonic signal, counterclockwise or clockwise rotation can be realized, and the cyclic excitation signal realizes stable bidirectional rotation. The application has the advantages of simple structure, single harmonic drive, operation in resonance state, no sliding friction, high energy efficiency, small wear, stable operation, long service life, and the like. The integrated design of driving and clamping optimizes the load performance, and theoretically can save 80% of the cost, is suitable for conventional working voltage (≥40V P-P ), and has wide application potential. When the working frequency is 2500.9 Hz, the maximum speed of the no-load reaches 618.9 mrad / s, and the maximum torque load is-25.18 mN•m, which is suitable for high-precision and high-efficiency rotary motor application scenarios.

[0037] The above-described embodiments are merely preferred embodiments of the application and are not intended to limit the scope of the application. Various modifications and improvements to the technical solutions of the application made by those of ordinary skill in the art without departing from the design spirit of the application shall fall within the protection scope of the application as defined by the claims.

Claims

1. A clamping drive integrated check and back pressure piezoelectric rotary motor characterized by: It comprises a base (1), a bearing rotor (2), a stator mechanism (3) and a pre-tightening mechanism (4). The base (1) is composed of an upper seat body (11) and a lower seat body (12), the upper seat body (11) is in a hollow columnar structure as a whole, and the outer ring of the bearing rotor (2) is fixed in the upper seat body (11). The pre-tightening mechanism (4) comprises a pre-tightening sliding block (41) fixed in the lower seat body (12) and a pre-tightening block (43) connected with the pre-tightening sliding block (41) through a pre-tightening bolt (42), and a pre-tightening spring (44) is sleeved on the pre-tightening bolt (42) between the pre-tightening sliding block (41) and the pre-tightening block (43). The stator mechanism (3) comprises a stator ring (31) arranged horizontally, the stator ring (31) is provided with a driving stator (32), a first mounting plate (311), a base fixing plate (312) and a second mounting plate (313) along the circumferential direction, the inner side plate surface of the first mounting plate (311) and the second mounting plate (313) is respectively fixed with a clamping piezoelectric piece (33), the outer side plate surface of the first mounting plate (311) is fixed with an auxiliary block (34), the outer side plate surface of the second mounting plate (313) is fixed with an auxiliary foot (35), the base fixing plate (312) is connected with a stator ring fixing seat (36) to make the stator ring (31) and the driving stator (32) in a suspended state, the stator ring fixing seat (36) is fixedly connected with the pre-tightening sliding block (41), and the auxiliary foot (35) and the driving foot (322) of the driving stator (32) are in contact with the inner ring of the bearing rotor (2) at the same time through the adjustment of the pre-tightening bolt (42).

2. The integrated backstop piezoelectric rotary motor based on clamping drive according to claim 1, characterized in that: The inner wall of the upper seat body (11) is provided with a sink (111) for positioning and mounting the bearing rotor (2), and the bottom of the upper seat body (11) is symmetrically provided with a positioning protrusion (112); the lower seat body (12) is in a columnar structure as a whole and concentric with the upper seat body (11), the top surface of the lower seat body (12) is provided with a first groove (121) in the radial direction, the first groove (121) is positioned in cooperation with the positioning protrusion (112) and is fixed through a screw, and the top surface of the lower seat body (12) is also provided with a second groove (122), the second groove (122) is used for mounting the pre-tightening mechanism (4) and is arranged perpendicularly to the first groove (121), and the second groove (122) and the first groove (121) form a cross structure as a whole.

3. The integrated backstop piezoelectric rotary motor based on clamping drive according to claim 1, characterized in that: The bearing rotor (2) is a non-standard bearing, the top surface of the inner ring is higher than the outer ring, the bearing rotor (2) is placed on the sink (111) of the upper seat body (11), and the outer ring of the bearing rotor (2) is fixedly attached to the inner wall of the upper seat body (11).

4. The integrated pinch drive non-backdrivable piezoelectric rotary motor of claim 1, wherein: The pre-tightening slider (41) and the pre-tightening stopper (43) are square block bodies, the pre-tightening slider (41) is provided with a groove (411) in the middle of the end face close to the pre-tightening stopper (43), the two sides of the groove (411) are symmetrically provided with U-shaped grooves (412), the U-shaped grooves (412) are provided with screws connecting the pre-tightening slider (41) and the lower seat body (12), the lower seat body (12), the pre-tightening slider (41) and the pre-tightening stopper (43) are all provided with threaded holes matched with the pre-tightening bolt (42), one end of the pre-tightening spring (44) abuts against the groove bottom of the groove (411), and the other end of the pre-tightening spring (44) abuts against the pre-tightening stopper (43).

5. The integrated backstop piezoelectric rotary motor based on clamping drive according to claim 1, characterized in that: The stator ring fixing seat (36) comprises a stepped platform (361), the high step surface of the platform (361) is provided with a connecting block (362) forming an integral structure with the platform (361), the connecting block (362) is located on the inner side surface of the base fixing plate (312), the outer side surface of the base fixing plate (312) is provided with a mounting baffle (37), and the base fixing plate (312) is fixed between the mounting baffle (37) and the connecting block (362) through screws.

6. The integrated pinch drive non-backdrivable piezoelectric rotary motor of claim 1, wherein: The stator ring (31) is provided with a notch (314) for mounting a driving stator (32), and the two sides of the notch (314) are respectively provided with driving stator connecting plates (315); the driving stator (32) comprises a mounting seat (321) fixed with the driving stator connecting plates (315), one side of the mounting seat (321) is connected with a driving foot (322), and the driving foot (322) is located outside the stator ring (31); the other side of the mounting seat (321) is connected with an elastic vibrator (323), and the elastic vibrator (323) is located inside the stator ring (31); the mounting seat (321), the driving foot (322) and the elastic vibrator (323) are an integral structure, the elastic vibrator (323) is provided with driving piezoelectric sheets (324) and mass blocks (325), and the driving piezoelectric sheets (324) and the mass blocks (325) are arranged in pairs.

7. The integrated pinch drive non-backdrivable piezoelectric rotary motor of claim 6, wherein: The mounting seat (321) is in a T shape as a whole, comprising a first plate (3211) fixed with the driving stator connecting plates (315) and a second plate (3212) connected perpendicularly to the outer side surface of the first plate (3211), a composite flexible hinge (3213) is arranged at the connection between the first plate (3211) and the second plate (3212), the driving foot (322) is connected to the end of the second plate (3212), and the end surface of the driving foot (322) in contact with the bearing rotor (2) is an arc surface, the two side surfaces of the end of the elastic vibrator (323) are respectively fixed with the mass blocks (325), and the elastic vibrator (323) between the mass blocks (325) and the first plate (3211) is respectively fixed with the driving piezoelectric sheets (324) on the two side surfaces.

8. The integrated backstop piezoelectric rotary motor based on clamping drive according to claim 1, characterized in that: The auxiliary block (34) is a longitudinally arranged rectangular thin plate body, the auxiliary foot (35) comprises a plate body (351) fixed with the second mounting plate (313) and a foot body (352) connected to the outer side of the plate body (351), the end surface of the foot body (352) in contact with the bearing rotor (2) is an arc surface, and the mass of the auxiliary block (34) is equal to that of the auxiliary foot (35).

9. The integrated backstop piezoelectric rotary motor based on clamping drive according to claim 6, characterized in that: The material of the driving piezoelectric sheet (324) and the clamping piezoelectric sheet (33) is piezoelectric ceramic PZT-4.

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