Two-degree-of-freedom inertial impact piezoelectric motor based on clamping mechanism

Abstract

The invention discloses a two-degree-of-freedom inertial impact piezoelectric motor based on a clamping mechanism, and belongs to the technical field of precision driving. The base fixes one end of the cylindrical guide rail through the oval slot. The linear mover mechanism comprises a left piezoelectric vibrator and a right piezoelectric vibrator which are symmetrically connected to the two sides of a linear mover, and the rotary mover mechanism is arranged outside the linear mover in a sleeving mode through a fixing pipe clamp. U-shaped openings in the two ends of the linear rotor periodically loosen or clamp the guide rail when the vibrator swings, so that bidirectional linear motion and unidirectional rotation are realized; the groove of the fixed pipe clamp reduces the local rigidity, so that the resonant frequency of the linear / rotary vibrator is synchronized to 171.82 Hz, the linear speed reaches 24.3 mm / s when the working voltage is 120Vp-p, and the load capacity is 380g. The problems that a traditional piezoelectric motor is single in freedom degree, low in efficiency and capable of moving back are solved.

Description

Technical Field

[0001] This invention relates to the field of precision drive technology, specifically to an inertial impact piezoelectric motor that integrates linear and rotational dual-degree-of-freedom motion and achieves high-efficiency output through a self-clamping mechanism. Background Technology

[0002] As a core actuator in the field of precision drive, piezoelectric motors occupy an important position in micro-nano manufacturing, biomedical engineering and optical precision adjustment due to their nanometer-level positioning accuracy and anti-electromagnetic interference characteristics.

[0003] Traditional inertial impact piezoelectric motors face three key bottlenecks in practical applications: First, the degree of freedom of motion is limited, and most designs only support unidirectional linear or rotational motion. For example, a typical inchworm piezoelectric motor achieves unidirectional displacement through an asymmetric structure, but it cannot simultaneously meet the needs of multi-dimensional motion under complex working conditions, such as scenarios in microscopy where both axial focusing and circumferential scanning are required. Secondly, due to the quasi-static working mode, the output performance is severely limited. Since the piezoelectric oscillator cannot work in the resonant state, its driving force and speed are far lower than the material potential. The linear speed of traditional inertial motors is generally less than 5 mm / s, and the load torque is less than 1 N·mm, making it difficult to apply in heavy-load or high-speed scenarios. Finally, bidirectional motion control relies on complex mechanisms. For example, asymmetric motors require special waveforms such as sawtooth waves to achieve direction switching, which not only increases control costs but also causes motion retraction due to the lack of adaptive clamping mechanisms. While asymmetric motors achieve unidirectional drive through mechanical design, they cannot flexibly switch directions.

[0004] Of particular note is that existing technologies attempting to integrate multi-degree-of-freedom solutions have significant drawbacks: for example, using independent linear and rotary modules but resulting in efficiency loss and low load capacity due to motion interference; another example is a single-degree-of-freedom motor with flexible rhomboid clamping feet, which can suppress backlash but cannot be extended to rotational motion due to stiffness matching issues.

[0005] These issues collectively restrict the application of piezoelectric motors in high-precision industrial equipment. Therefore, there is an urgent need for an innovative solution that can simultaneously overcome the limitations of degrees of freedom, improve output efficiency, and eliminate motion backlash. Summary of the Invention

[0006] I. Technical Issues 1. Limited degree of freedom: Traditional piezoelectric motors cannot simultaneously handle both linear and rotary motion; 2. Low output efficiency: Quasi-static operating mode limits speed and load capacity; 3. Poor motion stability: The lack of an adaptive clamping mechanism leads to displacement backtracking.

[0007] II. Technical Solution To address the above problems, this invention provides a two-degree-of-freedom inertial impact piezoelectric motor based on a clamping mechanism, comprising: The base has a left base and a left guide rail fixing cover that fix the left end of the cylindrical guide rail through an elliptical slot, and a right base and a right guide rail fixing cover that fix the right end of the cylindrical guide rail through a circular slot. The linear actuator mechanism includes a left piezoelectric vibrator (21) and a right piezoelectric vibrator symmetrically connected on both sides of the linear actuator, wherein the linear actuator is sleeved in the middle of the cylindrical guide rail; A rotary actuator mechanism includes a pair of rotating piezoelectric vibrators that are bolted to a fixed tube clamping block, the fixed tube clamp being sleeved outside the linear actuator; The cylindrical guide rail has an elliptical slot embedded in its left fixed end face and pressed by the left guide rail fixing cover. The right end is fitted with a deep groove ball bearing and a round nut in sequence, passes through a circular slot, and is pressed and fixed by the right guide rail fixing cover.

[0008] Preferably, four clamping plates are symmetrically arranged at both ends of the linear actuator, and the metal substrates of the left and right piezoelectric vibrators are fixed by bolts through threaded holes on both sides of the clamping plates, and a through gap is provided in the middle of the clamping plates.

[0009] Preferably, each clamping block connected to the rear side of the clamping plate has a pre-tightening bolt screwed into its upper and lower threaded holes, and the pre-tightening bolt cooperates with the pre-tightening spring to adjust the clamping force of the clamping block on the cylindrical guide rail.

[0010] Preferably, the four U-shaped openings at both ends of the linear actuator that cover the cylindrical guide rail are configured such that when the left or right piezoelectric vibrator swings, the U-shaped openings periodically loosen or clamp the cylindrical guide rail.

[0011] Preferably, the symmetrical grooves at the connection between the clamping block of the fixed pipe clamp and the pipe clamp body are used to reduce local stiffness in order to increase the swing amplitude of the rotating piezoelectric vibrator.

[0012] Preferably, the inner ring of the deep groove ball bearing is tightly fitted to the right end of the cylindrical guide rail, the outer ring is tightly fitted to the linear actuator, and the round nut is tightened to the threaded part of the right end of the cylindrical guide rail to axially constrain the bearing.

[0013] Preferably, the materials of each component include: the base and mass block are made of 45 steel; the metal substrate and linear actuator are made of 65Mn steel; the piezoelectric bicrystalline wafer is made of PZT-4 piezoelectric ceramic; and the cylindrical guide rail is made of 304 stainless steel.

[0014] Preferably, the U-shaped opening is configured such that: when the left piezoelectric vibrator swings in the positive direction of the X-axis, it releases the cylindrical guide rail, causing the linear mover to move in the negative direction of the X-axis under inertial force; when it swings in the negative direction of the X-axis, it clamps the cylindrical guide rail to keep the linear mover stationary.

[0015] Preferably, the U-shaped opening is configured such that: when the piezoelectric vibrator rotates forward, the cylindrical guide rail is released, allowing the linear mover to rotate unidirectionally under inertial force; when it rotates in reverse, the cylindrical guide rail is clamped to keep the linear mover stationary.

[0016] Preferably, the resonant frequencies of the left piezoelectric vibrator, the right piezoelectric vibrator, and the rotating piezoelectric vibrator are synchronized at 171.82 Hz.

[0017] III. Beneficial Effects This invention integrates a linear actuator and a rotary actuator through a dual-degree-of-freedom structure, enabling a single motor to synchronously achieve bidirectional linear motion (±X direction) and unidirectional rotary motion, thus completely solving the problem of multidimensional motion requirements. Based on resonant synchronization optimization technology, the invention utilizes grooves on the fixed pipe clamp to reduce local stiffness and coordinate the distribution of mass blocks, precisely synchronizing the resonant frequencies of the linear and rotary piezoelectric vibrators to 171.82Hz, achieving a qualitative leap in driving efficiency—operating at 120V. p-p The linear speed is increased to 24.3 mm / s, the load capacity reaches 380g, the maximum speed is 1.81 rad / s, and the maximum output torque is 3.25 N·mm, which is a significant improvement over the traditional design. The innovative dynamic self-clamping mechanism, with the U-shaped openings at both ends of the linear actuator as the core, periodically loosens or clamps the cylindrical guide rail during the oscillation of the piezoelectric vibrator. Combined with the real-time pressure adjustment of the preload bolts and preload springs, it not only eliminates motion backlash error, but also avoids the wear problem of traditional friction pairs, and significantly extends the service life.

[0018] In summary, this invention expands application scenarios through dual degrees of freedom, unleashes performance potential through resonant synchronization, and ensures stable operation through a self-clamping mechanism. The synergy of these three elements gives the motor a significant competitive advantage in the field of precision manufacturing. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0020] Figure 1 This is a schematic diagram of the internal structure of the two-degree-of-freedom inertial impact piezoelectric motor based on a clamping mechanism according to the present invention. Figure 2 This is a schematic diagram of the structure of the motor base of the present invention; Figure 3 This is a schematic diagram of the linear actuator mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the left piezoelectric vibrator of the present invention; Figure 5 This is a schematic diagram of the linear mover of the present invention; Figure 6 This is a schematic diagram of the rotating actuator mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of the rotating piezoelectric vibrator of the present invention; Figure 8 This is a schematic diagram of the structure of the fixing pipe clamp of the present invention; Figure 9 This is a schematic diagram of the cylindrical guide rail of the present invention; Figure 10 This is a schematic diagram of the pre-tightening mechanism of the present invention; Figure 11 This is a schematic diagram of the U-shaped opening on the linear mover of the present invention; Figure 12 This is a schematic diagram of the groove on the fixing pipe clamp of the present invention; Figure 13 This is a schematic diagram illustrating the bidirectional linear motion principle of the piezoelectric motor of the present invention. Figure 14 This is a schematic diagram illustrating the rotational motion principle of the piezoelectric motor of the present invention. Figure 15 This is a diagram of the excitation electrical signal of the piezoelectric motor of the present invention; Figure 16 This is a schematic diagram of the overall structure of the piezoelectric motor of the present invention; In the diagram: Base 1, Left Base 11, Left Guide Rail Fixing Cover 12, Elliptical Slot 13, Circular Slot 14, Right Base 15, Right Guide Rail Fixing Cover 16, Linear Motor Mechanism 2, Left Piezoelectric Vibrator 21, First Mass Block 211, First Metal Substrate 212, First Piezoelectric Bicrystalline Wafer 213, Linear Motor 22, Clamping Plate 221, Through Gap 2211, First Threaded Hole 2212, Clamping Block 222, Second Threaded Hole 22 21. Preload gap 2222. Preload spring 223. Preload bolt 224. U-shaped opening 225. Right piezoelectric vibrator 23. Rotating actuator mechanism 3. Second mass block 311. Second metal substrate 312. Second piezoelectric bicrystalline wafer 313. Clamping block 321. Groove 322. Third threaded hole 323. Cylindrical guide rail 4. Fixed end face 41. Deep groove ball bearing 5. Round nut 6. Rotating piezoelectric vibrator 31. Fixed pipe clamp 32. Detailed Implementation

[0021] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0022] like Figures 1 to 4 , Figure 16 As shown, the overall structure of the piezoelectric motor of the present invention includes a flat motor base 1, a linear actuator 2, a rotary actuator 3, and a cylindrical guide rail 4. The housing 7 is inverted on top of the base 1 and fixed to the base 1 with bolts, protecting the aforementioned core components of the motor. The side wall of the housing 7 is also provided with lead wire holes for the wires of the linear actuator 2 and the rotary actuator 3 to be led out of the housing 7.

[0023] Specifically, the base 1 consists of a left base 11, a right base 15, and a corresponding guide rail fixing cover. The connection between the left base 11 and the left guide rail fixing cover 12 is provided with an elliptical slot 13 for fixing the left end of the cylindrical guide rail 4. The connection between the right base 15 and the right guide rail fixing cover 16 is provided with a circular slot 14 for the end of the linear actuator 22 to pass through to the outside of the housing 7 as the output shaft of the motor. The diameters of the circular slot 14 and the output shaft through hole on the housing 7 are both larger than the diameter of the end of the linear actuator 22.

[0024] The linear actuator mechanism 2 includes a left piezoelectric vibrator 21 and a right piezoelectric vibrator 23 symmetrically connected to both sides of the linear actuator 22. The internal structure of the left piezoelectric vibrator 21 is as follows: a first mass block 211 is fixed to one end of a first metal substrate 212, a first piezoelectric bicrystalline wafer 213 is fixed to the side of the first metal substrate 212, and the other end of the first metal substrate 212 is bolted to a clamping plate 221. The right piezoelectric vibrator 23 has the same structure as the left piezoelectric vibrator 21 and is symmetrically distributed on the other side of the linear actuator 22.

[0025] like Figure 5 As shown, four clamping plates 221 are fixedly installed at both ends of the linear actuator 22. Each clamping plate 221 has a through gap 2211 in the middle to allow one end of the first metal substrate 212 to be inserted. First threaded holes 2212 are provided on both sides of the through gap 2211 for connecting the first metal substrates 212 of the left piezoelectric vibrator 21 and the right piezoelectric vibrator 23 via bolts. Two clamping blocks 222 are fixedly connected to the rear of each clamping plate 221 on the surface of the linear actuator 22. Each clamping block 222 has a second threaded hole 2221 at its end away from the linear actuator 22 for inserting the same preload bolt 224. Through the cooperation of the preload bolt 224 and the preload spring 223, the clamping force of the two clamping blocks 222 on the cylindrical guide rail 4 can be adjusted, thereby adjusting the preload force between the two ends of the linear actuator 22 and the cylindrical guide rail 4. Furthermore, four U-shaped openings 225 are symmetrically provided at both ends of the linear actuator 22. When the left piezoelectric vibrator 21 or the right piezoelectric vibrator 23 swings, the clamping plate 221 drives the corresponding U-shaped opening 225 to periodically loosen or clamp the cylindrical guide rail 4, thereby realizing the alternating friction and separation between the piezoelectric drive mechanism and the cylindrical guide rail 4.

[0026] like Figures 6 to 8 , Figure 12As shown, the rotating actuator mechanism 3 includes a pair of identical rotating piezoelectric vibrators 31 and a fixing clamp 32. Each rotating piezoelectric vibrator 31 consists of a second mass block 311, a second metal substrate 312, and a second piezoelectric bicrystalline wafer 313. The second mass block 311 is fixed to one end of the second metal substrate 312, and the second piezoelectric bicrystalline wafer 313 is fixed to its side. The other end is bolted to a clamping block 321 on the fixing clamp 32. The two rotating piezoelectric vibrators 31 are symmetrically distributed on both sides of the linear actuator 22. One end of the fixing clamp 32 is provided with a clamping block 321 for fixing the rotating piezoelectric vibrator 31; the other end is provided with four third threaded holes 323 and symmetrically opened grooves 322, which, in cooperation with the other fixing clamp 32, fix the rotating piezoelectric vibrator 31 to the linear actuator 22. Here, the grooves 322 are used to reduce the local stiffness at the connection between the clamping block 321 and the fixing clamp 32, thereby increasing the swing amplitude of the rotating piezoelectric vibrator 31.

[0027] like Figure 9 As shown, the left end of the cylindrical guide rail 4 has a fixed end face 41, which is embedded in the elliptical slot 13 between the left base 11 and the left guide rail fixing cover 12, and is pressed and fixed by the left guide rail fixing cover 12; the right end of the cylindrical guide rail 4 is a cylindrical surface, and a deep groove ball bearing 5 and a round nut 6 are sleeved on its outer side. The inner ring of the deep groove ball bearing 5 is tightly fitted with the right end of the cylindrical guide rail 4, and the outer ring is slidingly fitted with the linear actuator 22. The round nut 6 is tightened on the threaded part of the cylindrical guide rail 4 to axially constrain the deep groove ball bearing 5. The deep groove ball bearing 5 can provide sufficient support rigidity inside the linear actuator 22.

[0028] like Figure 10 and Figure 11 As shown, a pre-tightening mechanism is provided at the contact point between the linear actuator 22 and the cylindrical guide rail 4: four clamping blocks 222 are symmetrically installed at both ends of the linear actuator 22. Each clamping block 222 cooperates with the pre-tightening bolt 224 and the pre-tightening spring 223 to form a pre-tightening mechanism. By adjusting the screw-in depth of the pre-tightening bolt 224, the size of the pre-tightening gap 2222 between the upper and lower clamping blocks 222 on the same side can be changed, thereby adjusting the contact pressure between both ends of the linear actuator 22 and the cylindrical guide rail 4 to improve the transmission force.

[0029] The above structure ensures the clamping control of the cylindrical guide rail 4 during the driving process: the linear actuator 22 has four U-shaped openings 225 at both ends, one above the other. When the left piezoelectric vibrator 21 or the right piezoelectric vibrator 23 reciprocates, the U-shaped openings 225 at the left or right ends are driven to periodically loosen or clamp the cylindrical guide rail 4. The fixed tube clamp 32 has symmetrically provided grooves 322 to further reduce the local stiffness, so that the rotating piezoelectric vibrator 31 has a larger swing amplitude during driving. The materials of each component are preferably as follows: the base 1, the first mass block 211 and the second mass block 311 are made of 45 steel; the first metal substrate 212, the second metal substrate 312 and the linear actuator 22 are made of 65Mn steel; the first piezoelectric bicrystalline wafer 213 and the second piezoelectric bicrystalline wafer 313 are made of PZT-4 type ceramic; the preload spring 223 is made of 50CrVA material; and the cylindrical guide rail 4 is made of 304 stainless steel.

[0030] Example 1 (Linear Drive Mode): In this mode, the motor achieves bidirectional linear motion along the X-axis. The drive signal is a harmonic signal, specifically generated by a signal generator, amplified by a voltage amplifier, and then input to the left piezoelectric vibrator 21 and the right piezoelectric vibrator 23 via wires, as shown below. Figure 15 As shown. When the motor moves in the negative X-axis direction, a harmonic drive signal needs to be input to the left piezoelectric vibrator 21.

[0031] Its working process is as follows: See Figure 13 At the initial time t0, the harmonic signal voltage input to the left piezoelectric vibrator 21 is at its positive peak value. At this time, under the action of the positive peak voltage, the left piezoelectric vibrator 21 swings to the negative limit position of the X-axis, and the linear actuator 22 is at its initial position (displacement is 0). During the time interval from t0 to t1, the excitation signal of the left piezoelectric vibrator 21 rapidly decreases from the positive peak value to the negative peak value, and the left piezoelectric vibrator 21 rapidly swings back from the negative limit position of the X-axis to the positive limit position of the X-axis under voltage drive. During this process, as the left piezoelectric vibrator 21 swings in the positive X-axis direction, it causes the U-shaped opening 225 to automatically release the cylindrical guide rail 4. Due to inertia, the linear actuator 22 generates a displacement S1 in the negative X-axis direction along the cylindrical guide rail 4.

[0032] At time t1, the harmonic signal voltage input to the left piezoelectric vibrator 21 is at its negative peak. Under the influence of the negative peak voltage, the left piezoelectric vibrator 21 swings to its positive limit position on the X-axis. During the time interval from t1 to t2, the excitation signal of the left piezoelectric vibrator 21 rapidly rises from its negative peak to its positive peak, and the left piezoelectric vibrator 21, driven by the voltage, rapidly swings back from its positive limit position on the X-axis to its negative limit position on the X-axis. During this process, as the left piezoelectric vibrator 21 swings negatively on the X-axis, it causes the U-shaped opening 225 to automatically clamp the cylindrical guide rail 4, suppressing the linear mover from generating a backward displacement. Due to the inertial impact during the time interval from t0 to t1, the linear mover 22 travels a displacement of S1 along the negative X-axis. The clamping of the cylindrical guide rail 4 by the U-shaped opening 225 during the time interval from t1 to t2 causes the linear mover 22 to undergo a small backward displacement of S2. The net displacement along the negative X-axis in one cycle is ΔS = S1 – S2.

[0033] When movement along the positive X-axis is required, a harmonic drive signal is similarly applied to the right piezoelectric vibrator 23. Its movement process is similar to that described above when the left piezoelectric vibrator 21 drives the linear actuator 22 to move along the negative X-axis: when the right piezoelectric vibrator 23 swings towards the negative X-axis, the U-shaped opening 225 releases the cylindrical guide rail 4, allowing the linear actuator 22 to move along the positive X-axis; when the right piezoelectric vibrator 23 swings towards the positive direction, the U-shaped opening 225 clamps the cylindrical guide rail 4, suppressing the linear actuator 22 from retracting. By alternately exciting the left piezoelectric vibrator 21 and the right piezoelectric vibrator 23, the linear actuator 22 can achieve bidirectional continuous stepping linear motion along the cylindrical guide rail 4.

[0034] In this embodiment, with the coordinated action of the left piezoelectric vibrator 21, the right piezoelectric vibrator 23, and the U-shaped clamping structure, the motor can achieve bidirectional stepping drive along the X-axis, and the step size of each drive can be finely adjusted according to the voltage amplitude and frequency. During the drive process, the linear actuator 22 and the cylindrical guide rail 4 achieve inertial sliding and suppress backlash through alternating clamping and loosening, thus achieving smooth output.

[0035] The motor in this embodiment has high linear motion accuracy and can reach the design requirements at speed. At the same time, due to the addition of the clamping mechanism, the backlash is minimized, making it suitable for high-precision positioning applications.

[0036] Example 2 (Rotary Drive Mode): In this mode, the motor achieves continuous unidirectional rotational motion around the cylindrical guide rail 4. The drive electrical signal also uses harmonic signals, which are generated by a signal generator, amplified by a voltage amplifier, and then input to the rotating piezoelectric vibrator 31 and the left piezoelectric vibrator 21 through wires.

[0037] Its working process is as follows: See Figure 14At time t0, a positive peak signal is simultaneously applied to the rotating piezoelectric vibrator 31 and the left piezoelectric vibrator 21. At this time, the rotating piezoelectric vibrator 31 swings to its counterclockwise limit position under the action of voltage, and the left piezoelectric vibrator 21 swings in the negative direction of the X-axis, causing the U-shaped opening 225 to clamp the cylindrical guide rail 4, so the linear actuator 22 remains stationary. The motor is now in its initial stationary position (rotation angle is 0).

[0038] During the period from t0 to t1, the excitation signal of the rotating piezoelectric vibrator 31 rapidly decreases from a positive peak value to a negative peak value, causing the rotating piezoelectric vibrator 31 to swing clockwise under the action of the drive signal. The left piezoelectric vibrator 21 swings along the positive X-axis, causing the U-shaped opening 225 to release the cylindrical guide rail 4. At this time, under the action of inertial force, the motor rotating structure generates a counterclockwise rotation angle θ1.

[0039] During the period from t1 to t2, the excitation signal of the rotating piezoelectric vibrator 31 rapidly rises from a negative peak to a positive peak, causing the rotating piezoelectric vibrator 31 to oscillate counterclockwise under the action of the drive signal. The left piezoelectric vibrator 21 oscillates in the negative direction of the X-axis, causing the U-shaped opening 225 to clamp the cylindrical guide rail 4. This clamping process causes the motor's rotating structure to produce a small clockwise retraction angle θ2. Therefore, the net rotation angle of the motor in one drive cycle is Δθ = θ1 – θ2. By continuously and periodically exciting the rotating piezoelectric vibrator 31, the unidirectional continuous rotation output of the motor is achieved.

[0040] In this embodiment, the rotating piezoelectric oscillator 31 works in conjunction with the U-shaped clamping structure to achieve stable rotational output continuously. During the oscillator's recovery phase, the clamping mechanism clamps the cylindrical guide rail 4, preventing reverse sliding during commutation, thus ensuring continuous and controllable output rotation. In this mode, the motor exhibits high output torque and good step distance controllability, making it suitable for high-precision rotary positioning applications.

[0041] Example 3 (Comprehensive Drive Mode): In this embodiment, linear drive and rotary drive can be combined to achieve a more flexible motion mode. This embodiment does not introduce new mechanisms; instead, by flexibly combining and controlling the drive signals of the left and right piezoelectric oscillators 21 and 23 and the rotary piezoelectric oscillator 31, a composite motion effect can be obtained. For example, the linear actuator 22 can be driven to a designated position as in Embodiment 1, and then the rotary piezoelectric oscillator 31 can be driven to rotate as in Embodiment 2. Alternatively, harmonic signals can be applied to all three sets of oscillators simultaneously within the same cycle, allowing the linear actuator 22 to achieve a superposition effect of linear displacement and rotational change within the same driving cycle.

[0042] By switching between different working modes, this invention can meet the needs of various motion conditions while maintaining a unified structure.

[0043] Each embodiment is merely a preferred example of the present invention, and the appropriate mode can be selected according to application requirements during specific use. In summary, the present invention employs harmonic drive signals and integrates a clamping structure, significantly improving the driving force output. Embodiment 1 achieves precise bidirectional linear motion output, Embodiment 2 achieves continuous unidirectional rotational output, and Embodiment 3 achieves a flexible combination of the two, each exhibiting good technical effects in terms of output efficiency, positioning accuracy, and multi-degree-of-freedom motion. Any modifications or equivalent substitutions to the above embodiments do not depart from the spirit of the present invention and are all within the protection scope of the present invention.

Claims

1. A two-degree-of-freedom inertial impact piezoelectric motor based on a clamping mechanism, characterized in that, The utility model relates to a two-degree-of-freedom piezoelectric motor based on clamping mechanism, which comprises a base (1), a linear motor mechanism (2) and a rotary motor mechanism (3). The base (1) comprises a left base (11) and a right base (15), and an oval slot (13) is formed between the left base (11) and a left guide rail fixing cover (12) to fix a left end of a cylindrical guide rail (4); a circular slot (14) is formed between the right base (15) and a right guide rail fixing cover (16) to allow an end of the linear motor mechanism (2) to extend out. The linear motor mechanism (2) comprises a left piezoelectric vibrator (21) and a right piezoelectric vibrator (23) symmetrically connected to both sides of a linear motor (22), and the linear motor (22) is sleeved in the middle part of the cylindrical guide rail (4). The rotary motor mechanism (3) comprises a pair of rotary piezoelectric vibrators (31) fixed on one side of a clamping block (321) of a fixed pipe clamp (32) through bolts, and the fixed pipe clamp (32) is sleeved outside the linear motor (22).

2. The clamping mechanism based two-degree-of-freedom inertial impact piezoelectric motor according to claim 1, characterized in that: Four clamping plates (221) are symmetrically arranged at both ends of the linear motor (22), a first threaded hole (2212) is formed in the clamping plate (221) and is used for fixing a first metal substrate (212) of the left piezoelectric vibrator (21) and the right piezoelectric vibrator (23) through a bolt, and a through gap (2211) is formed in the middle part of the clamping plate (221).

3. The clamping mechanism based two-degree-of-freedom inertial impact piezoelectric motor according to claim 2, characterized in that: A pair of upper and lower clamping blocks (222) are fixedly arranged on the rear side of each clamping plate (221) on the linear motor (22) at intervals, a second threaded hole (2221) is formed in each clamping block (222) and is screwed into a same pre-tightening bolt (224), and the pre-tightening bolt (224) is matched with a pre-tightening spring (223) to adjust the pressing force of the upper and lower clamping blocks (222) on the cylindrical guide rail (4).

4. The clamping mechanism based 2-DOF inertial impact piezoelectric motor according to claim 1, wherein: Four U-shaped openings (225) are formed at both ends of the linear motor (22) and are configured to periodically loosen or clamp the cylindrical guide rail (4) when the left piezoelectric vibrator (21) or the right piezoelectric vibrator (23) swings.

5. The clamping mechanism based 2-DOF inertial impact piezoelectric motor according to claim 1, wherein: A groove (322) is symmetrically formed at the connection between the clamping block (321) and the fixed pipe clamp (32) to reduce the local rigidity and increase the swing amplitude of the rotary piezoelectric vibrator (31).

6. The clamping mechanism based 2-DOF inertial impact piezoelectric motor according to claim 1, wherein: A deep groove ball bearing (5) and a circular nut (6) are sequentially sleeved at the right end of the cylindrical guide rail (4), the inner ring of the deep groove ball bearing (5) is tightly fitted at the right end of the cylindrical guide rail (4), the outer ring is in sliding connection with the inner wall of the linear motor (22), and the circular nut (6) is screwed on the threaded part at the right end of the cylindrical guide rail (4) to axially constrain the deep groove ball bearing (5).

7. The two-degree-of-freedom piezoelectric motor based on clamping mechanism according to claim 1, wherein: the base (1), the first mass block (211) and the second mass block (311) are made of 45 steel; the first metal substrate (212), the second metal substrate (312) and the linear motor (22) are made of 65Mn steel; the first piezoelectric bimorph (213) and the second piezoelectric bimorph (313) are made of PZT-4 piezoelectric ceramic; the cylindrical guide rail (4) is made of 304 stainless steel.

8. The clamping mechanism based 2-DOF inertial impact piezoelectric motor according to claim 4, wherein: The U-shaped opening (225) is configured to: when the left piezoelectric vibrator (21) swings to the positive direction of the X axis, the cylindrical guide rail (4) is loosened, and the linear motor (22) moves to the negative direction of the X axis under the action of the inertial force. When the left piezoelectric vibrator (21) swings to the negative direction of the X axis, the cylindrical guide (4) is clamped, and the linear mover (22) is stationary.

9. The clamping mechanism based 2-DOF inertial impact piezoelectric motor according to claim 4, wherein: The U-shaped opening (225) is configured to: When the rotary piezoelectric vibrator (31) rotates forward, the cylindrical guide (4) is released, and the linear mover (22) rotates in one direction under the action of the inertial force; When the rotary piezoelectric vibrator (31) rotates reversely, the cylindrical guide (4) is clamped, and the linear mover (22) is stationary.

10. The clamping mechanism based 2-DOF inertial impact piezoelectric motor according to claim 1, wherein: The resonant frequencies of the left piezoelectric vibrator (21), the right piezoelectric vibrator (23), and the rotary piezoelectric vibrator (31) are synchronized to 171.82 Hz.

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