A check-back-free piezoelectric rotary motor based on integrated clamping driving

Abstract

The application relates to the field of precision driving and positioning, and particularly relates to a check-back-preventing piezoelectric rotary motor based on integrated clamping driving, which comprises a base, a bearing runner, a stator mechanism and a pre-tightening mechanism; the outer ring of the bearing runner is fixed in an upper seat body; the pre-tightening mechanism comprises a pre-tightening sliding block, a pre-tightening bolt, a pre-tightening block and a pre-tightening bolt which are fixed in a lower seat body; the stator mechanism comprises a horizontally-arranged stator ring, a clamping piezoelectric sheet, an auxiliary block, an auxiliary foot and the like. According to the above technical scheme, the piezoelectric motor is integrated with driving and clamping, the structure is simple, single-harmonic driving is adopted, the motor works in a resonance state, and the energy conversion efficiency is good. Compared with other motors of the same type, no sliding friction phenomenon occurs in the running process, the back sliding phenomenon is inhibited, the working mode of a single driving foot driving the inner ring runner in an elliptical track reduces the abrasion of the motor in the working process, the motor runs stably, and the service life of the motor is prolonged.

Description

Technical Field

[0001] This invention relates to the field of precision drive and positioning, and specifically to a non-returning piezoelectric rotary motor based on integrated clamping and driving. Background Technology

[0002] In recent decades, with the increasing demand for actuators in engineering applications, piezoelectric motors have experienced rapid development. Piezoelectric motors utilize the inverse piezoelectric effect of piezoelectric materials to convert input electrical energy into output mechanical energy. Compared to traditional electromagnetic motors, piezoelectric motors offer advantages such as simple structure, fast drive response, high controllability, no electromagnetic interference during operation, self-destruction due to overload or overvoltage, self-locking upon power failure, and the ability to operate in extreme environments such as vacuum and low temperatures. Piezoelectric motors are widely used in precision machining, precision positioning and tracking, scanning systems, and high-precision biomedical applications—fields with high requirements for the precision and dimensional accuracy of piezoelectric actuators.

[0003] Currently, there are many structural types of piezoelectric motors. Based on their working principles, they can be mainly divided into ultrasonic motors, inchworm motors, and inertial impact motors. 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 piezoelectric motors have the advantages of large stroke and simple structure. However, the positioning accuracy problem caused by friction wear and backslip effect remains unsolved. An existing piezoelectric stick-slip rotary actuator using asynchronous drive and dual stators reduces backslip. However, sliding friction and reverse sliding problems still exist, making this type of actuator unsuitable for long-term operation. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned drawbacks and provide a non-returning piezoelectric rotary motor based on integrated clamping and driving.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a piezoelectric rotary motor based on clamping and driving integration, comprising a base, a bearing mover, a stator mechanism and a preload mechanism;

[0006] The base consists of an upper body and a lower body. The upper body is a hollow columnar structure, and the outer ring of the bearing mover is fixed inside the upper body.

[0007] The pre-tightening mechanism includes a pre-tightening slider fixed in the lower body and a pre-tightening stop block connected to the pre-tightening slider by a pre-tightening bolt. A pre-tightening spring is sleeved on the pre-tightening bolt between the pre-tightening slider and the pre-tightening stop block.

[0008] The stator mechanism includes a horizontally arranged stator ring. The stator ring is circumferentially provided with a drive stator, a first mounting plate, a base fixing plate, and a second mounting plate. Clamping piezoelectric pieces are fixed to the inner surfaces of the first and second mounting plates, an auxiliary block is fixed to the outer surface of the first mounting plate, and an auxiliary foot is fixed to the outer surface of the second mounting plate. The base fixing plate is connected to the stator ring fixing seat to suspend the stator ring and drive stator. The stator ring fixing seat is fixed to a pre-tightening slider. Adjustment of the pre-tightening bolts allows the auxiliary foot and the drive foot of the drive stator to simultaneously contact the inner ring of the bearing mover.

[0009] The inner wall of the upper seat is provided with a countersunk platform for positioning and installing the bearing mover, and the bottom of the upper seat is provided with symmetrical positioning protrusions; the lower seat is generally columnar and concentric with the upper seat, and the top surface of the lower seat is provided with a first groove along the radial direction. The first groove cooperates with the positioning protrusion for positioning and is fixed by screws. The top surface of the lower seat is also provided with a second groove, which is used to install a pre-tightening mechanism and is set perpendicular to the first groove. The second groove and the first groove together form a cross-shaped structure.

[0010] The bearing mover is a non-standard bearing, with the top surface of its inner ring higher than that of its outer ring. The bearing mover is placed on the sinker of the upper body, and the outer ring of the bearing mover is bonded and fixed to the inner wall of the upper body.

[0011] The pre-tightening slider and the pre-tightening stop are both square blocks. The pre-tightening slider has a groove in the middle of its end face near the pre-tightening stop. U-shaped grooves are symmetrically arranged on both sides of the groove. Screws connecting the pre-tightening slider and the lower seat are provided in the U-shaped grooves. The lower seat, the pre-tightening slider and the pre-tightening stop are all provided with threaded through holes that mate with the pre-tightening bolts. One end of the pre-tightening spring abuts against the bottom of the groove, and the other end of the pre-tightening spring abuts against the pre-tightening stop.

[0012] The stator ring fixing seat includes a stepped platform. A connecting block integrally formed with the platform is provided on the high step surface of the platform. The connecting block is located on the inner side plate of the base fixing plate. An installation baffle is provided on the outer side plate of the base fixing plate. The base fixing plate is fixed between the installation baffle and the connecting block by screws. The stator ring fixing seat and the pre-tightening slider are fixed by screws.

[0013] The stator ring is provided with a slot for mounting the drive stator, and drive stator connecting plates are respectively provided on both sides of the slot. The drive stator includes a mounting base fixed to the drive stator connecting plate. A drive foot is connected to one side of the mounting base and is located outside the stator ring. An elastic vibrator is connected to the other side of the mounting base and is located inside the stator ring. The mounting base, drive foot and elastic vibrator are integrally formed. The elastic vibrator is provided with a drive piezoelectric sheet and a mass block. The drive piezoelectric sheet and the mass block are arranged in pairs.

[0014] The mounting base is T-shaped and includes a first plate fixed to the drive stator connecting plate and a second plate perpendicularly connected to the outer side of the first plate. A composite flexible hinge is provided at the connection between the first plate and the second plate. The drive foot is connected to the end of the second plate, and the end face of the drive foot that contacts the bearing mover is an arc surface. Mass blocks are fixed to both sides of the end of the elastic vibrator. Drive piezoelectric plates are fixed to both sides of the elastic vibrator between the mass blocks and the first plate.

[0015] The auxiliary block is a rectangular thin plate arranged longitudinally. The auxiliary foot includes a plate fixed to the second mounting plate and a foot connected to the outer side of the plate. The end face of the foot that contacts the bearing mover is an arc surface. The auxiliary block and the auxiliary foot have the same mass.

[0016] The materials of both the driving piezoelectric sheet and the clamping piezoelectric sheet are piezoelectric ceramic PZT-4.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. This invention integrates the driving and clamping of a piezoelectric motor, resulting in a simple structure. Both components utilize single-harmonic drive, operating in a resonant state with good energy conversion efficiency. Compared to other motors of the same type, it eliminates sliding friction during operation and suppresses slippage. The single drive mechanism, capable of driving the inner ring mover via an elliptical trajectory, significantly reduces motor wear during operation, ensuring stable motor operation and extending motor lifespan.

[0019] 2. This invention achieves bidirectional rotation of the inner ring mover by modal coupling between the driving stator and the stator ring, forming an elliptical motion trajectory of the driving foot and a "clamping-release" action of the auxiliary foot. Simultaneously, the radial clamping force provided by the driving foot and auxiliary foot further optimizes the load performance of the piezoelectric motor. Compared to traditional piezoelectric stack drives, this invention has significant cost advantages and is applicable to conventional operating voltages (≥40V). P-P） The environment has broad application potential.

[0020] 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.

[0021] 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.

[0022] 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

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the structure of the base of the present invention;

[0026] Figure 4 yes Figure 3 A schematic diagram of the decomposed structure;

[0027] Figure 5 This is a schematic diagram of the upper seat of the present invention. Figure 1 ;

[0028] Figure 6 This is a schematic diagram of the upper seat of the present invention. Figure 2 ;

[0029] Figure 7 This is a schematic diagram of the structure of the lower seat of the present invention;

[0030] Figure 8 This is a schematic diagram of the bearing mover of the present invention;

[0031] Figure 9 This is a schematic diagram of the stator mechanism of the present invention. Figure 1 ;

[0032] Figure 10 This is a schematic diagram of the stator mechanism of the present invention. Figure 2 ;

[0033] Figure 11 This is an exploded structural diagram of the stator mechanism of the present invention;

[0034] Figure 12 This is a schematic diagram of the stator ring structure of the present invention;

[0035] Figure 13 yes Figure 12 A schematic diagram of the decomposed structure;

[0036] Figure 14 This is a schematic diagram of the structure of the drive stator of the present invention;

[0037] Figure 15 This is an overall schematic diagram of the elastic oscillator, driving foot, and mounting base of the present invention;

[0038] Figure 16 This is a schematic diagram of the stator ring fixing seat of the present invention;

[0039] Figure 17 This is a schematic diagram of the pre-tightening mechanism of the present invention. Figure 1 ;

[0040] Figure 18 This is a schematic diagram of the pre-tightening mechanism of the present invention. Figure 2 ;

[0041] Figure 19 This is a schematic diagram of the installation structure of the pre-tightening mechanism and the lower seat of the present invention;

[0042] Figure 20 This is a schematic diagram of the installation structure of the pre-tightening mechanism, lower seat body, and stator mechanism of the present invention;

[0043] Figure 21 This is a schematic diagram of the structure of the present invention;

[0044] Figure 22 This is the excitation electrical signal for the piezoelectric motor of the present invention;

[0045] Figure 23 The piezoelectric motor of this invention is in Figure 22 Working principle diagram during t0 to t1;

[0046] Figure 24 The piezoelectric motor of this invention is in Figure 22 Working principle diagram at t1 to t2;

[0047] Figure 25 The piezoelectric motor of this invention is in Figure 22 Working principle diagram at t2 to t3;

[0048] Figure 26 The piezoelectric motor of this invention is in Figure 22 The working principle diagram for t3 to t4.

[0049] The markings in the above figures are as follows: base 1, upper body 11, recessed platform 111, positioning protrusion 112, lower body 12, first groove 121, second groove 122, bearing mover 2, inner ring mover 21, stator mechanism 3, stator ring 31, first mounting plate 311, base fixing plate 312, second mounting plate 313, slot 314, drive stator connecting plate 315, drive stator 32, mounting base 321, first plate 3211, second plate 32 12. Composite flexible hinge 3213. Drive foot 322. Elastic vibrator 323. Drive piezoelectric sheet 324. Mass block 325. Clamping piezoelectric sheet 33. Auxiliary block 34. Auxiliary foot 35. Plate 351. Foot body 352. Stator ring fixing seat 36. Platform 361. Connecting block 362. Mounting baffle 37. Pre-tightening mechanism 4. Pre-tightening slider 41. Groove 411. U-shaped groove 412. Pre-tightening bolt 42. Pre-tightening stop block 43. Pre-tightening spring 44. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings:

[0051] like Figure 1 , Figure 2 The illustrated anti-reverse piezoelectric rotary motor based on clamping and driving integration includes a base 1, a bearing mover 2, a stator mechanism 3, and a preload mechanism 4.

[0052] Furthermore, such as Figures 3-7 As shown, the base 1 consists of an upper body 11 and a lower body 12. The upper body 11 is a hollow columnar structure, and the lower body 12 is a columnar structure. The lower body 12 is concentric with the upper body 11. Specifically, the inner wall of the upper body 11 is provided with a recessed platform 111 for positioning and installing the bearing mover 2, and the bottom of the upper body 11 is symmetrically provided with positioning protrusions 112. The top surface of the lower body 12 has a first groove 121 radially formed. The first groove 121 cooperates with the positioning protrusions 112 for positioning and is fixed by screws. The top surface of the lower body 12 also has a second groove 122. The second groove 122 is used to install the pre-tightening mechanism 4 and is perpendicular to the first groove 121. The second groove 122 and the first groove 121 together form a cross-shaped structure.

[0053] Furthermore, such as Figure 8As shown, the bearing mover 2 is a non-standard bearing, with the top surface of its inner ring higher than the outer ring, that is, the inner ring of the bearing mover 2 is raised to form the inner ring mover 21. The outer ring of the bearing mover 2 is fixed inside the upper seat 11. Specifically, the bearing mover 2 is placed on the recess 111 of the upper seat 11, and the outer ring of the bearing mover 2 is glued and fixed to the inner wall of the upper seat 11.

[0054] Furthermore, such as Figures 9-13 As shown, the stator mechanism 3 includes a horizontally arranged stator ring 31. The stator ring 31 is provided with a drive stator 32, a first mounting plate 311, a base fixing plate 312, and a second mounting plate 313 along its circumference. The stator ring 31 has a slot 314 for mounting the drive stator 32, and drive stator connecting plates 315 are respectively provided on both sides of the slot 314. In other words, the stator ring 31 is C-shaped overall, with its opening being the slot 314 for mounting the drive stator 32. The drive stator 32 is mounted at the slot 314, making the stator ring 31 form a closed-loop structure.

[0055] Furthermore, clamping piezoelectric pieces 33 are fixed to the inner surfaces of the first mounting plate 311 and the second mounting plate 313, respectively, to provide clamping function and stable support. An auxiliary block 34 is fixed to the outer surface of the first mounting plate 311, and an auxiliary foot 35 is fixed to the outer surface of the second mounting plate 313. The auxiliary foot 35 clamps the bearing mover during drive clearance, thus preventing backlash. Since the structure on both sides of the stator becomes asymmetrical after the addition of the auxiliary foot, the displacement direction of the drive foot will have a slight longitudinal angle when the stator ring expands in the longitudinal direction. If this angle is too large, it may cause a difference in the counterclockwise and clockwise rotation speed of the brake, affecting the working stability. Therefore, the auxiliary block 34 is added to reduce the angle. In this embodiment, the auxiliary block 34 is a rectangular thin plate arranged longitudinally, and the auxiliary foot 35 includes a plate 351 fixed to the second mounting plate 313 and a foot 352 connected to the outer side of the plate 351. The plate 351 and the foot 352 are an integral structure. Preferably, the auxiliary block 34 and the auxiliary foot 35 have the same mass, which increases the motion stability when the stator is excited.

[0056] Furthermore, the base fixing plate 312 is connected to the stator ring fixing seat 36 so that the stator ring 31 and the drive stator 32 are in a suspended state. Specifically, as shown... Figure 16As shown, the stator ring fixing seat 36 includes a stepped platform 361. A connecting block 362, integrally formed with the platform 361, is provided on the higher step surface of the platform 361. The connecting block 362 is located on the inner side of the base fixing plate 312, and a mounting baffle 37 is provided on the outer side of the base fixing plate 312. The base fixing plate 312 is fixed between the mounting baffle 37 and the connecting block 362 by screws. The stator ring fixing seat 36 and the pre-tightening slider 41 are also fixed by screws. The stepped platform 361 ensures that the stator ring 31 and the drive stator 32 are suspended, and during excitation motion, the stator ring 31 and the drive stator 32 do not interfere with the platform 361, ensuring stable motor operation. Simultaneously, the connecting block 362 and the mounting baffle 37 clamp the base fixing plate 312 on the stator ring 31 in the middle and secure the three together with screws, ensuring assembly reliability and structural stability.

[0057] Furthermore, the stator ring fixing seat 36 and the pre-tightening slider 41 are fixedly connected by screws, and the pre-tightening bolt 42 is adjusted so that the auxiliary foot 35 and the driving foot 322 of the driving stator 32 simultaneously contact the inner ring of the bearing mover 2. Preferably, the end faces of the foot 352 and the driving foot 322 that contact the bearing mover 2 are both arc surfaces.

[0058] Furthermore, such as Figure 14 , Figure 15 As shown, the drive stator 32 includes a mounting base 321 fixed to the drive stator connecting plate 315. A drive foot 322 is connected to one side of the mounting base 321 and is located outside the stator ring 31. An elastic vibrator 323 is connected to the other side of the mounting base 321. The elastic vibrator 323 is a thin plate structure located inside the stator ring 31. The mounting base 321, drive foot 322, and elastic vibrator 323 are integrally formed. The elastic vibrator 323 is provided with a drive piezoelectric element 324 and a mass block 325. The drive piezoelectric element 324 and the mass block 325 are arranged in pairs. The mass block 325 is used to adjust the modal frequency of the elastic vibrator 323 and increase its amplitude. More specifically, the mounting base 321 is T-shaped, including a first plate 3211 fixed to the drive stator connecting plate 315 and a second plate 3212 vertically connected to the outer side of the first plate 3211. A composite flexible hinge 3213 is provided at the connection between the first plate 3211 and the second plate 3212. The composite flexible hinge 3213 has flexible deformation capability, enabling flexible connection and energy transfer. While enhancing the elastic vibration of the drive stator 32, it also amplifies the swing of the drive foot 322. The drive foot 322 is connected to the end of the second plate 3212. Mass blocks 325 are fixed to both sides of the end of the elastic vibrator 323. Drive piezoelectric plates 324 are fixed to both sides of the elastic vibrator 323 between the mass blocks 325 and the first plate 3211.

[0059] The composite flexible hinge 3213 is generally composed of multiple single-sided flexible hinges in different directions. In operation, the piezoelectric rotary motor drives the stator 32 and stator ring 31 to resonate along the x-axis and y-axis directions of the drive foot 322, thereby generating an elliptical trajectory for the drive foot 322. As a key structure connecting the stator ring 31 and the drive stator 32, the composite flexible hinge 3213 in the stator mechanism 3 plays a crucial role in the overall performance. Therefore, in this embodiment, the composite flexible hinge 3213 is designed to be composed of single-sided flexible hinges in two directions to ensure its mechanical properties and motion coordination.

[0060] In this embodiment, the materials of the driving piezoelectric element 324 and the clamping piezoelectric element 33 are both piezoelectric ceramic PZT-4.

[0061] Furthermore, such as Figures 17-20 As shown, the pre-tightening mechanism 4 includes a pre-tightening slider 41 fixed inside the lower seat 12 and a pre-tightening stop 43 connected to the pre-tightening slider 41 by a pre-tightening bolt 42. A pre-tightening spring 44 is sleeved on the pre-tightening bolt 42 between the pre-tightening slider 41 and the pre-tightening stop 43. Specifically, both the pre-tightening slider 41 and the pre-tightening stop 43 are square blocks. A groove 411 is provided in the middle of the end face of the pre-tightening slider 41 near the pre-tightening stop 43. U-shaped grooves 412 are symmetrically provided on both sides of the groove 411. Screws for connecting the pre-tightening slider 41 and the lower seat 12 are provided in the U-shaped grooves 412. The lower seat 12, the pre-tightening slider 41, and the pre-tightening stop 43 are all provided with threaded through holes that cooperate with the pre-tightening bolt 42. One end of the pre-tightening spring 44 abuts against the bottom of the groove 411, and the other end of the pre-tightening spring 44 abuts against the pre-tightening stop 43. By pre-tightening the pre-tightening bolt 42, the drive foot 322 and auxiliary foot 35 of the stator mechanism 3 are brought into contact with the inner ring of the bearing mover 2. After adjusting the pre-tightening force, the pre-tightening slider 41 is fastened to the lower seat 12 by the screw in the U-shaped groove 412 to lock the pre-tightening force.

[0062] During operation, harmonic excitation signals with a 90° phase difference are input to a pair of driving piezoelectric plates 324 on the stator 32 and a pair of clamping piezoelectric plates 33 on the stator ring 31, respectively. This causes the driving feet 322 and the elastic oscillator 323 of the stator 32 to oscillate laterally within one cycle, while the stator ring 31 generates alternating "expansion-contraction" motions along the longitudinal and lateral directions within one cycle. When the stator ring 31 expands longitudinally and contracts laterally, the driving feet 322 clamp the inner ring mover 21 of the bearing mover 2 and drive it to rotate, while the auxiliary feet 35 move away from the inner ring. When the stator ring 31 contracts longitudinally and expands laterally, the driving feet 322 move away from the inner ring mover 21 of the bearing mover 2, while the auxiliary feet 35 clamp the inner ring mover 21 to suppress its slippage. The oscillation direction of the driving feet 322 when clamping and driving the inner ring mover 21 determines the motion direction of the inner ring mover 21. By adjusting the phase difference of the input harmonic excitation signal, the inner ring mover 21 can be rotated in both directions, either counterclockwise or clockwise; by cyclically inputting the excitation signal, the inner ring mover 21 can be rotated in both directions stably.

[0063] The working principle of this invention is explained in detail below:

[0064] A simplified structural diagram of the present invention is shown below. Figure 21 See also Figure 22 Harmonic excitation signals with a phase difference of 90° are input to a pair of driving piezoelectric plates 324 on the driving stator 32 and a pair of clamping piezoelectric plates 33 on the stator ring 31, respectively, so that the driving foot 322 and the elastic oscillator 323 of the driving stator 32 can realize transverse reciprocating oscillation within one cycle, while the stator ring 31 generates alternating "expansion-contraction" motion in the longitudinal and transverse directions within one cycle, forming the elliptical motion trajectory of the driving foot 322 and the "clamping-releasing" action of the auxiliary foot 35.

[0065] Analyzing the working principle of a motor within one cycle:

[0066] At time t0, the elastic oscillator 323 driving the stator 32 is at its maximum position on the right, and the stator ring 31 is in its initial state.

[0067] like Figure 23 As shown, within the range of t0 to t1, the stator ring 31 expands longitudinally from its initial position to its maximum position. The auxiliary foot 35 separates from the inner ring mover 21, the inner ring mover 21 is released, and the elastic oscillator 323 swings back from its right extreme position to its initial position, driving the foot 322 to clamp and drive the inner ring mover 21 to rotate, causing the inner ring mover 21 to rotate clockwise by an angle θ1.

[0068] like Figure 24As shown, within t1 to t2, the stator ring 31 contracts from the position of maximum longitudinal expansion to the initial position, the auxiliary foot 35 separates from the inner ring mover 21, the inner ring mover 21 remains released, the elastic oscillator 323 moves from the initial position to the left maximum offset position, the driving foot 322 clamps and drives the inner ring mover 21 to rotate, so that the inner ring mover 21 rotates clockwise by an angle θ2;

[0069] like Figure 25 As shown, within t2 to t3, the stator ring 31 expands laterally 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, so that the inner ring mover 21 comes to rest.

[0070] like Figure 26 As shown, within t3 to t4, the stator ring 31 returns from the position of maximum lateral expansion to the initial position, the auxiliary foot 35 remains clamped to the inner ring mover 21, the driving foot 322 separates from the inner ring mover 21, and the inner ring mover 21 remains stationary.

[0071] During the period from t0 to t4, the inner ring mover 21 rotates clockwise by an angle of θ = θ1 + θ2. Therefore, using a continuous harmonic signal will cause the inner ring mover 21 to rotate continuously clockwise without retraction, while the counterclockwise reverse motion of the actuator can be achieved by changing the phase difference between the excitation signals of the clamping piezoelectric plate 33 and the driving piezoelectric plate 324.

[0072] In this invention, when the operating frequency of the piezoelectric motor is 2500.9Hz, the maximum speed under no-load operation is 618.9mrad / s, and the maximum torque load is 25.18mN•m.

[0073] In summary, the stator mechanism of this invention includes a drive stator 32 and a stator ring 31. By inputting a harmonic excitation signal with a 90° phase difference, the drive foot 322 and auxiliary foot 35 work together to achieve bidirectional rotation of the inner ring mover 21. The drive foot 322 drives the inner ring mover 21 via an elliptical trajectory, while the auxiliary foot 35 suppresses slippage through a "clamping-releasing" action. By adjusting the phase difference of the harmonic signal, counterclockwise or clockwise rotation can be achieved, while a cyclic excitation signal achieves stable bidirectional rotation. This invention has a simple structure, uses single harmonic drive, operates in a resonant state, has no sliding friction, high energy efficiency, low wear, stable operation, and long service life. The integrated drive and clamping design optimizes load performance, theoretically saving 80% of the cost, and is suitable for conventional operating voltages (≥40V). P-P It has broad application potential. At an operating frequency of 2500.9 Hz, the maximum no-load speed reaches 618.9 mrad / s, and the maximum torque load is 25.18 mN•m, making it suitable for high-precision and high-efficiency rotary motor applications.

[0074] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

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 stopper (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 stopper (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 a driving foot (322) of the driving stator (32) are simultaneously in contact with the inner ring of the bearing rotor (2) through the adjustment of the pre-tightening bolt (42). The driving stator (32) comprises a mounting seat (321) fixed with a 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 an elastic vibrator (323), the elastic vibrator (323) is in a thin plate structure, and 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 in an integral molding structure.

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), a first groove (121) is formed on the top surface of the lower seat body (12) along the radial direction, the first groove (121) is matched and positioned with the positioning protrusion (112) and is fixed through a screw, a second groove (122) is also formed on the top surface of the lower seat body (12), 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 back-check 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 of which is higher than the outer ring, the bearing rotor (2) is arranged 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 block (43) are both square block bodies, a groove (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 at the two sides of the groove (411), screws 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 groove (411), and the other end of the pre-tightening spring (44) abuts against the pre-tightening block (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), a connecting block (362) in an integral structure with the platform (361) is arranged on the high step face of the platform (361), the connecting block (362) is located on the inner side face of the base fixing plate (312), a mounting baffle (37) is arranged on the outer side face of the base fixing plate (312), and the base fixing plate (312) is fixed between the mounting baffle (37) and the connecting block (362) through screws.

6. The integrated backstop piezoelectric rotary motor based on clamping drive according to claim 1, characterized in that: The stator ring (31) is provided with a slot (314) for mounting a driving stator (32), driving stator connecting plates (315) are arranged at the two sides of the slot (314), 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, comprises a first plate (3211) fixed with the driving stator connecting plate (315) and a second plate (3212) perpendicularly connected to the outer side face of the first plate (3211), a composite flexible hinge (3213) is arranged at the connection position of the first plate (3211) and the second plate (3212), the driving foot (322) is connected to the end of the second plate (3212), the end face of the driving foot (322) in contact with the bearing rotor (2) is an arc face, the mass blocks (325) are fixed to the two side faces of the end of the elastic vibrator (323) respectively, and the driving piezoelectric sheets (324) are fixed to the two side faces of the elastic vibrator (323) between the mass blocks (325) and the first plate (3211) respectively.

8. The integrated back-check 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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