Piezoelectric driving motor and driving system

Abstract

The invention relates to a piezoelectric driving motor and a driving system. The piezoelectric driving motor comprises a base, a rotating module, a power module, a reading module and a rotor fixing module, according to the invention, the rotor fixing module capable of actively pressing the driving ring is additionally arranged, so that retracement vibration during high-speed driving is effectively inhibited, and the motion stability and precision are improved; the unique mechanical decoupling design enables the pre-tightening force of a driving interface to be independent of an axial load, so that the stability and repeatability of the output performance are ensured; meanwhile, the modular structure supports quick replacement of the core function unit, so that the maintenance cost is remarkably reduced; compact layout is adopted as a whole, the flexible hinge and the ceramic friction pair are combined with self-adaptive adjustment, and the reliability and long-term working consistency of the system are further improved.

Description

Technical Field

[0001] This invention relates to the field of piezoelectric drive motor technology, and in particular to a piezoelectric drive motor and drive system. Background Technology

[0002] A piezoelectric motor is a precision actuator that directly converts electrical energy into mechanical energy using the inverse piezoelectric effect of piezoelectric materials. Among them, piezoelectric rotary motors based on the stick-slip effect have been widely used in cutting-edge fields such as optical adjustment, precision manufacturing, semiconductor inspection, and biological micromanipulation because they can achieve nanometer-level positioning resolution over large strokes.

[0003] The typical operating mode of an existing piezoelectric stick-slip rotary motor is as follows: a sawtooth wave voltage is applied to the piezoelectric ceramic in the drive unit, causing it to undergo a cycle of "slow extension-rapid contraction". During the slow extension phase, the drive foot propels the rotor forward through static friction; during the rapid contraction phase, relative sliding occurs between the drive foot and the rotor due to inertia. Ideally, the rotor should remain in the new position, thereby achieving step-by-step accumulation of displacement.

[0004] However, such existing technical solutions have the following pressing technical problems that need to be solved: During periods of rapid voltage change in the drive voltage, the drive foot retracts sharply. At this time, the friction between the rotor and the drive foot quickly changes from static friction to dynamic friction, generating a sliding friction force opposite to the direction of motion. This force causes the rotor to experience unexpected "retraction" or vibration. This not only makes the motor's output motion unstable and generates noise, but also directly leads to a loss of effective drive displacement per step. This retraction vibration is particularly significant under high-speed or high-frequency drive conditions, severely limiting the application of the motor in high-precision, smooth motion scenarios.

[0005] In many practical applications, the motor rotor shaft often needs to bear varying axial loads (such as the weight of a workpiece when vertically mounted). In traditional structural designs, the driving force provided by the drive foot is highly dependent on the normal pressure between it and the rotor contact surface. However, this normal pressure is often coupled with the rotor's axial load: load changes are transmitted through the mechanical structure, altering the compression state of the contact interface and causing fluctuations in the driving friction force. This causes the motor's single-step displacement, output thrust, and even positioning accuracy to vary with the load weight, resulting in unstable output performance and poor repeatability. This bottleneck severely restricts the reliable application of piezoelectric motors in precision working environments that require variable loads.

[0006] Existing high-performance piezoelectric motors are typically highly integrated monolithic designs. When a core component fails or degrades, the entire motor often needs to be returned to the manufacturer for complex and expensive disassembly and repair, sometimes even requiring complete replacement. This not only results in high usage and maintenance costs but also leads to prolonged equipment downtime, disrupting production and research continuity. Users have an urgent need for modular designs where key components can be quickly replaced and performance can be restored on-site.

[0007] In summary, there is an urgent need in the current technological field for an innovative piezoelectric drive motor solution. Summary of the Invention

[0008] Therefore, the technical problem to be solved by the present invention is to overcome the problems of existing piezoelectric rotary motors, where rapid voltage changes cause the drive foot to retract rapidly, resulting in rotor vibration and displacement loss, affecting the smoothness and accuracy of high-speed motion; and axial load changes can couple and affect the positive pressure of the drive interface, causing fluctuations in drive force and output performance, making it difficult to adapt to precision scenarios with variable loads; at the same time, the integrated design makes maintenance difficult, and failures often require the replacement of the entire machine, resulting in high maintenance costs and long downtime.

[0009] To solve the above-mentioned technical problems, the present invention provides a piezoelectric drive motor, comprising, Base; A rotating module includes a fixed shaft, a transition plate, a bearing plate, and a drive ring. The fixed shaft is connected to the base, the transition plate is rotatably connected to the fixed shaft via a bearing, the bearing plate is coaxially connected to the side of the transition plate away from the base, and the drive ring is sleeved on the bearing. A power module, which is located on one side of the rotating module, includes a module base, a hinge, a first piezoelectric actuator, and a drive foot. The module base is mounted on a base, the hinge is located on the module base, and the drive foot is connected to the hinge and makes frictional contact with the drive ring. The first piezoelectric actuator is located on the hinge and is used to drive the hinge to deform so that the drive foot moves back and forth and drives the drive ring to rotate. A reading module includes a grating disk and a reading head. The grating disk is coaxially disposed on the side of the adapter plate facing away from the support plate, and the reading head is disposed on the base with its reading end facing the grating disk. The rotor fixing module includes a mounting base, a second piezoelectric actuator, and a pressure plate. The mounting base is disposed on a base, and the second piezoelectric actuator is connected to the mounting base. One end of the second piezoelectric actuator is connected to the pressure plate corresponding to the position of the drive ring. The second piezoelectric actuator is used to drive the pressure plate to press the drive ring tightly during the retraction phase of the drive foot, thereby suppressing the rotation of the drive ring.

[0010] Preferably, there are two power modules, which are respectively located on both sides of the rotating module. The first piezoelectric actuator of each power module is connected to an adaptive adjustment circuit. The adaptive adjustment circuit includes an adjustable capacitor connected in parallel with the first piezoelectric actuator for adjusting its static capacitance, and a series resistive step-down circuit containing an adjustable resistor.

[0011] Preferably, the hinge includes a body with a receiving groove, the first piezoelectric actuator is installed in the receiving groove, and an extension is provided on one side of the body, on which the driving foot is installed.

[0012] Preferably, the device includes a controller connected to the first piezoelectric actuator, the second piezoelectric actuator, and a reading head. The controller applies a periodic driving voltage waveform to the first piezoelectric actuator and applies a locking control signal to the second piezoelectric actuator within the phase interval of the driving voltage waveform corresponding to the retraction of the driving foot, so that the pressure plate presses the driving ring.

[0013] Preferably, the bearing includes a first bearing and a second bearing, which are coaxially mounted on a fixed shaft and in close contact. The adapter plate is mounted on the first bearing, and the ceramic ring is mounted on the second bearing.

[0014] Preferably, both the first and second piezoelectric actuators are made of piezoelectric ceramics, the drive ring is made of ceramic ring, the drive foot is made of ceramic sheet, and the pressure plate is made of ceramic plate.

[0015] Preferably, the pressure plate has an arc-shaped plate structure, and the concave side of the pressure plate faces the drive ring.

[0016] Preferably, the hinge is made of a flexible material.

[0017] Preferably, the base is provided with multiple cable routing grooves.

[0018] A drive system comprising a piezoelectric drive motor as described in any of the preceding claims.

[0019] Compared with the prior art, the above-described technical solution of the present invention has the following advantages: Effective suppression of backlash vibration and improved high-speed performance: By adding a rotor fixing module driven by a second piezoelectric actuator, the drive ring is actively pressed during the "slipping" phase of the drive foot's backlash, applying an additional frictional torque opposite to the backlash trend. This significantly suppresses the rotor's reverse backlash and the resulting vibration. This allows the motor to operate stably at higher drive frequencies, achieving higher speeds, while fundamentally improving motion smoothness, step consistency, and reducing noise.

[0020] Achieving decoupling between drive and load for stable output performance: The preload applied to the drive foot of the rotating module in this structure is a radial force, set by the hinge and adjusting screw, independent of the rotor's axial load. The weight carried by the rotor primarily generates axial force, which is borne by the bearings and does not significantly alter the normal pressure at the contact surface between the drive ring and the radial drive foot. This ensures that key performance parameters such as the motor's single-step displacement and output torque are unaffected by changes in external load, resulting in extremely high output stability and repeatability.

[0021] Modular design for easy maintenance and replacement: Core functional units are designed as independent modules, which are mounted on the base via standard interfaces. When a module malfunctions or its performance degrades, there is no need to disassemble the entire motor or return it to the factory for repair. Users or field engineers can quickly locate and replace the corresponding faulty module, greatly reducing maintenance costs and shortening equipment downtime.

[0022] Compact structure, high precision, and high reliability: The overall design layout is reasonable and highly integrated. Flexible hinges are used to transmit displacement, eliminating backlash and ensuring high motion accuracy. Key friction pairs are made of ceramic materials, offering long wear resistance and lifespan. The introduction of an adaptive adjustment circuit further enhances the consistency and long-term stability of system performance.

[0023] The output parameters of the drive components are consistent: a set of adjustable capacitor C is connected in parallel with the piezoelectric ceramic. ad The static capacitance of the piezoelectric ceramic can be adjusted, thereby regulating the elongation rate of the piezoelectric ceramic; simultaneously, the elongation rate can be adjusted by using a fixed resistor R and a variable resistor R. ad The circuit can adjust the voltage applied to it, thereby adjusting the response speed and elongation of the piezoelectric ceramic, and thus control drive components with different parameters to have the same output parameters under the same waveform. Attached Figure Description

[0024] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is an isometric view of a piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of a piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the power module of the piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 5 This is an exploded view of the rotation module of the piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 6 This is a schematic diagram of the reading module of the piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 7 This is a schematic diagram of the adaptive adjustment circuit of the piezoelectric drive motor according to a preferred embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the change of driving voltage of a piezoelectric drive motor over time according to a preferred embodiment of the present invention; Figure 9 This is a schematic diagram of the displacement of the drive assembly and rotor of a piezoelectric drive motor with / without a rotor fixing module, according to a preferred embodiment of the present invention.

[0025] Explanation of reference numerals in the accompanying drawings: 1. Base; 2. Rotating module; 21. Fixed shaft; 22. Adapter plate; 23. Bearing plate; 24. Drive ring; 25. First bearing; 26. Second bearing; 3. Power module; 31. Module base; 32. Hinge; 33. First piezoelectric actuator; 34. Drive foot; 4. Reading module; 41. Grating disk; 42. Reading head; 5. Rotor fixing module; 51. Mounting base; 52. Second piezoelectric actuator; 53. Pressure plate; 6. Adaptive adjustment circuit; 61. Adjustable capacitor; 62. Resistor unit. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0027] Example 1, refer to Figures 1-9 As shown, a piezoelectric drive motor of the present invention includes, Base 1 serves as the mounting foundation for the entire motor structure; The rotating module 2 includes a fixed shaft 21, a transition plate 22, a bearing plate 23, and a drive ring 24. The fixed shaft 21 is vertically connected to the base 1. The transition plate 22 is rotatably connected to the fixed shaft 21 through a bearing. The bearing plate 23 is coaxially connected to the side of the transition plate 22 away from the base 1. The bearing plate 23 is used to install external loads. The drive ring 24 is sleeved on the bearing and serves as a driven rotating component. The power module 3, which is located on one side of the rotating module 2, includes a module base 31, a hinge 32, a first piezoelectric actuator 33, and a drive foot 34. The module base 31 is mounted on the base 1, the hinge 32 is located on the module base 31, and the drive foot 34, which is in frictional contact with the drive ring 24, is connected to the hinge 32. The first piezoelectric actuator 33 (piezoelectric ceramic) is located on the hinge 32. When the piezoelectric ceramic is loaded with a sawtooth-shaped voltage change, it deforms and drives the hinge 32 to deform, so that the drive foot 34 moves back and forth and transmits the displacement to the drive ring 24 of the rotating module 2 by static friction, thereby driving the drive ring 24 to rotate. The reading module 4 is used to detect the angular displacement of the rotor (i.e., the rotating module) in real time. It includes a grating disk 41 and a reading head 42. The grating disk 41 is coaxially disposed on the side of the adapter plate 22 facing away from the bearing plate 23. The reading head 42 is disposed on the base 1 and its reading end faces the grating disk 41.

[0028] The rotor fixing module 5 is the core for suppressing retraction vibration. It includes a mounting base 51, a second piezoelectric actuator 52, and a pressure plate 53. The mounting base 51 is set on the base 1. The second piezoelectric actuator 52 is connected to the mounting base 51. One end of the second piezoelectric actuator 52 is connected to the pressure plate 53, which corresponds to the position of the drive ring 24. The second piezoelectric actuator 52 is used to drive the pressure plate 53 to press the drive ring 24 during the retraction phase of the drive foot 34, thereby suppressing the rotation of the drive ring 24. In the initial state, the pressure plate 53 and the surface of the drive ring 24 maintain a small gap.

[0029] This invention discloses a piezoelectric drive motor and drive system. By adding a rotor fixing module driven by a second piezoelectric actuator 52, the drive ring 24 is actively pressed during the retraction phase of the drive foot 34, applying an additional frictional torque opposite to the retraction trend. This significantly suppresses rotor reverse retraction and vibration, thereby improving the motor's stability, step consistency, and operating frequency at high speeds, while reducing operating noise. Secondly, the mechanical decoupling design ensures that the radial preload applied by the drive foot 34 is independent of the rotor's axial load. The weight borne by the rotor is mainly supported by the bearings, without changing the positive pressure at the drive interface. This ensures that key performance parameters such as single-step displacement and output torque remain stable under load changes, resulting in high output repeatability. Furthermore, the modular design allows core functional units to be installed independently via standard interfaces, supporting rapid location and replacement of faulty modules, significantly reducing maintenance costs and downtime, and improving equipment maintainability. In addition, the overall structure is compact, using a backlash-free flexible hinge to transmit displacement, resulting in high motion accuracy. Key friction pairs use wear-resistant ceramic materials for long service life, and the adaptive adjustment circuit 6 further enhances the system's long-term reliability and performance consistency.

[0030] Furthermore, two power modules 3 are provided, one on each side of the rotating module 2. Each power module 3's first piezoelectric actuator 33 is connected to an adaptive adjustment circuit 6. The adaptive adjustment circuit 6 includes an adjustable capacitor 61 connected in parallel with the first piezoelectric actuator 33 to adjust its static capacitance, and a series resistive step-down circuit containing an adjustable resistor. Specifically, this symmetrical drive structure with dual power modules 3 improves the motor's output torque and motion smoothness. Furthermore, if one power module 3 fails, the other power module 3 can temporarily maintain the motor's basic operation, enhancing the motor's reliability.

[0031] It is conceivable that the motor structure of this invention is driven by two sets of power modules 3. However, the dimensional tolerances of the piezoelectric ceramics and mechanical structures within the two sets of power modules 3 are not entirely the same. Under the same driving waveform, the output displacement and the time for outputting the same displacement of the two power modules 3 are not the same. Therefore, it is necessary to dynamically adjust the driving parameters (initial elongation, elongation speed, and other properties of the piezoelectric ceramics) to make the driving performance of the two sets of power modules 3 adaptively adjustable, and ultimately ensure consistency as much as possible, so as to provide the best performance for the motor. Figure 7 The circuit shown has an adjustable capacitor C connected in parallel with the piezoelectric ceramic. ad The static capacitance of the piezoelectric ceramic can be adjusted, thereby regulating the elongation rate of the piezoelectric ceramic; based on this, a fixed resistor R and a variable resistor R ad The circuit can adjust the voltage applied to it, thereby adjusting the response speed and elongation of the piezoelectric ceramic, and thus control drive components with different parameters to have the same output parameters under the same waveform.

[0032] The high-resolution grating disk 41 and the reading head 42 constitute the closed-loop system of the motor. The controller compares the target position with the actual position read in real time and calculates the position error. The closed-loop system can continuously fine-tune the control voltage to compensate for this error through continuous feedback, thereby ensuring that the motor can achieve nanometer-level ultra-high precision rotation.

[0033] Specifically, the motor is driven solely by the first power module (i.e., one of the two power modules), and the reading head 42 feeds back the data at position one; then the motor is driven solely by the second power module, and the reading head feeds back the data at position two; the intermediate value between the two data points is selected, and the adjustable capacitor C in each of the two power modules 3 is adjusted accordingly. ad With variable resistor R ad This allows both sets of power modules 3 to drive the motors individually to reach the aforementioned intermediate position data, and under the same driving waveform, the speed at which they reach this intermediate value is consistent. This process is an adaptive and adjustable process for the motor's performance.

[0034] Furthermore, the hinge 32 includes a main body with a receiving groove, a first piezoelectric actuator 33 is installed in the receiving groove, and an extension is provided on one side of the main body, on which a driving foot 34 is installed.

[0035] Furthermore, a controller is included, which is connected to the first piezoelectric actuator 33, the second piezoelectric actuator 52, and the reading head 42 respectively. The controller applies a periodic driving voltage waveform to the first piezoelectric actuator 33 and applies a locking control signal to the second piezoelectric actuator 52 within the phase interval of the corresponding retraction of the driving foot 34 in the driving voltage waveform, so that the pressure plate 53 presses the driving ring 24. Before the driving foot 34 enters the slowly elongating driving phase, the locking signal is released, so that the pressure plate 53 is disengaged from the driving ring 24 or maintains a small gap.

[0036] Furthermore, the bearings include a first bearing 25 and a second bearing 26, which are coaxially mounted on the fixed shaft 21 and in close contact. An adapter plate 22 is mounted on the first bearing 25, and a ceramic ring is mounted on the second bearing 26. Specifically, this dual-bearing independent support design helps to primarily transfer the axial load of the bearing plate 23 to the first bearing 25 and the fixed shaft 21, while the positive pressure on the drive ring 24 and its friction drive interface is independently provided by the second bearing 26 and the preload structure of the power module 3. This decouples the drive positive pressure from the axial load, ensuring that the drive performance does not change with the load weight.

[0037] Furthermore, both the first piezoelectric actuator 33 and the second piezoelectric actuator 52 are made of piezoelectric ceramics, the drive ring 24 is a ceramic ring, the drive foot 34 is a ceramic sheet, and the pressure plate 53 is a ceramic plate. The use of ceramic materials can reduce wear and improve durability and temperature stability.

[0038] Furthermore, the pressure plate 53 has an arc-shaped plate structure, and the concave side of the pressure plate 53 faces the drive ring 24. The arc-shaped pressure plate 53 can increase the contact area between it and the outer circular surface of the drive ring 24, thereby providing a more uniform and stable clamping force.

[0039] Furthermore, hinge 32 is made of flexible material. Hinge 32 can be made of flexible materials with excellent elasticity and fatigue strength, such as spring steel and beryllium bronze, and is integrally processed by wire cutting or etching processes to achieve motion transmission with no mechanical backlash, high precision, and long service life.

[0040] Furthermore, the base 1 is provided with multiple cable routing grooves for neatly arranging power lines and signal lines.

[0041] Work process: Reference Figure 8 and Figure 9As shown, during the period from 0 to t1, the voltage slowly rises to its maximum value, the piezoelectric ceramic slowly elongates and drives the hinge 32 to move forward. The static friction between the ceramic plate at the upper end of the hinge 32 and the outer ceramic ring of the rotor transmits the displacement to the rotor. The displacement of the hinge 32 and the counterclockwise rotation displacement of the rotor both reach α2. During the period from t1 to t2, the voltage drops rapidly to 0, the piezoelectric ceramic shortens, the hinge quickly recovers, and the drive unit moves to 0. The outer ceramic ring of the rotor rotates slowly due to inertia, generating sliding friction between it and the ceramic plate and remaining at α1. This sawtooth voltage is continuously and cyclically applied to the piezoelectric ceramics of the two power modules 3, which can realize the accumulation of the rotor rotation angle (from α1 to α3, α5), thereby realizing the rotor driving the load to rotate continuously and precisely in the opposite direction.

[0042] Similarly, when the voltage rises rapidly and falls slowly, the piezoelectric ceramic elongates rapidly and then shortens slowly, enabling the rotor to drive the load to rotate continuously and precisely in the forward direction.

[0043] It is conceivable that during both forward and reverse rotation, the rotor will experience a certain retraction angle (α2-α1) due to the sliding friction between the ceramic plates and the ceramic ring, resulting in displacement loss and vibration.

[0044] This invention adds a rotor fixing module consisting of piezoelectric ceramic and a fixed ceramic ring, which can fix the ceramic ring at the voltage change time t1-t2, eliminate back displacement, reduce vibration and increase the final displacement of the rotor, thereby improving the problem of the rotor having a certain back angle (α2-α1), loss of displacement and vibration.

[0045] The working process after adding a rotor fixing module is described using the example of the motor rotating counterclockwise: During the period from 0 to t1, the voltage slowly rises to its maximum value, causing the piezoelectric ceramic to slowly elongate and drive the hinge 32 to move forward. The static friction between the ceramic plate at the upper end of the hinge 32 and the outer ceramic ring of the rotor transmits the displacement to the rotor. Both the displacement of the hinge 32 and the counterclockwise rotation displacement of the rotor reach β1. During the period from t1 to t2, the voltage rapidly drops to 0, the piezoelectric ceramic shortens, the hinge 32 quickly returns to its original position, and the drive unit moves to 0. At this time, the rotor fixing module 5 activates to fix the outer ceramic ring of the rotor, so the rotor remains at β1. During the period from t2 to t3, the rotor fixing module 5 fails, and the rotor still moves to β2 by relying on the forward displacement of the ceramic plate. This sawtooth voltage is continuously cyclically applied to the piezoelectric ceramics of the two power modules 3, which can realize the accumulation of the rotor rotation angle (from β1 to β2, β3), thereby realizing the rotor driving the load to rotate continuously and precisely in the opposite direction.

[0046] Similarly, when the voltage rises rapidly and falls slowly, the piezoelectric ceramic elongates rapidly and then shortens slowly, enabling the rotor to drive the load to rotate continuously and precisely in the forward direction.

[0047] In embodiment two, the present invention also discloses a drive system, including a piezoelectric drive motor as in embodiment one.

[0048] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A piezoelectric drive motor, characterized in that, include, Base; A rotating module includes a fixed shaft, a transition plate, a bearing plate, and a drive ring. The fixed shaft is connected to the base, the transition plate is rotatably connected to the fixed shaft via a bearing, the bearing plate is coaxially connected to the side of the transition plate away from the base, and the drive ring is sleeved on the bearing. A power module, which is located on one side of the rotating module, includes a module base, a hinge, a first piezoelectric actuator, and a drive foot. The module base is mounted on a base, the hinge is located on the module base, and the drive foot is connected to the hinge and makes frictional contact with the drive ring. The first piezoelectric actuator is located on the hinge and is used to drive the hinge to deform so that the drive foot moves back and forth and drives the drive ring to rotate. A reading module includes a grating disk and a reading head. The grating disk is coaxially disposed on the side of the adapter plate facing away from the support plate, and the reading head is disposed on the base with its reading end facing the grating disk. The rotor fixing module includes a mounting base, a second piezoelectric actuator, and a pressure plate. The mounting base is disposed on a base, and the second piezoelectric actuator is connected to the mounting base. One end of the second piezoelectric actuator is connected to the pressure plate corresponding to the position of the drive ring. The second piezoelectric actuator is used to drive the pressure plate to press the drive ring tightly during the retraction phase of the drive foot, thereby suppressing the rotation of the drive ring.

2. The piezoelectric drive motor according to claim 1, characterized in that: Two power modules are provided, which are respectively located on both sides of the rotating module. Each power module's first piezoelectric actuator is connected to an adaptive adjustment circuit. The adaptive adjustment circuit includes an adjustable capacitor connected in parallel with the first piezoelectric actuator to adjust its static capacitance, and a series resistive step-down circuit containing an adjustable resistor.

3. The piezoelectric drive motor according to claim 1, characterized in that: The hinge includes a main body with a receiving groove, the first piezoelectric actuator is installed in the receiving groove, and an extension is provided on one side of the main body, on which the driving foot is installed.

4. The piezoelectric drive motor according to claim 1, characterized in that: The device includes a controller connected to the first piezoelectric actuator, the second piezoelectric actuator, and a reading head. The controller applies a periodic driving voltage waveform to the first piezoelectric actuator and applies a locking control signal to the second piezoelectric actuator within the phase interval of the driving voltage waveform corresponding to the retraction of the driving foot, so that the pressure plate presses the driving ring.

5. The piezoelectric drive motor according to claim 1, characterized in that: The bearing includes a first bearing and a second bearing, which are coaxially mounted on a fixed shaft and in close contact. The adapter plate is mounted on the first bearing, and the ceramic ring is mounted on the second bearing.

6. The piezoelectric drive motor according to claim 1, characterized in that: Both the first and second piezoelectric actuators are made of piezoelectric ceramics, the drive ring is a ceramic ring, the drive foot is a ceramic sheet, and the pressure plate is a ceramic plate.

7. The piezoelectric drive motor according to claim 1, characterized in that: The pressure plate has an arc-shaped structure, and the concave side of the pressure plate faces the drive ring.

8. The piezoelectric drive motor according to claim 1, characterized in that: The hinge is made of a flexible material.

9. The piezoelectric drive motor according to claim 1, characterized in that: The base has multiple cable routing grooves for wiring.

10. A drive system, characterized in that: Including the piezoelectric drive motor as described in any one of claims 1-9.

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