CN110138265A - A kind of self-centering type piezoelectricity looper linear motor - Google Patents
A kind of self-centering type piezoelectricity looper linear motor Download PDFInfo
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- CN110138265A CN110138265A CN201910358063.7A CN201910358063A CN110138265A CN 110138265 A CN110138265 A CN 110138265A CN 201910358063 A CN201910358063 A CN 201910358063A CN 110138265 A CN110138265 A CN 110138265A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/023—Inchworm motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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Abstract
The invention discloses a kind of self-centering type piezoelectricity looper linear motors, including output shaft, output sleeve is equipped with driving unit, and the both ends of driving unit are respectively equipped with the first clamping unit and the second clamping unit, and the first clamping unit and the second clamping unit difference clamper are in output shaft；Driving unit includes the 5th rigid portion and the 6th rigid portion being axially arranged along output shaft, free gap is equipped between 5th rigid portion and the 6th rigid portion, elastic component is also connected between 5th rigid portion and the 6th rigid portion, top is equipped with driving piezo actuator between the 5th rigid portion and the 6th rigid portion.Compared with existing piezoelectricity looper linear motor, it is an advantage of the invention that motor overall structure is simple, compact；Eliminate assembly and adjustment process；It is easy to the assembly and adjusting of output shaft, the fretting wear between output shaft and clamping mechanism can be reduced and improves the driving force of output shaft；Motor can be self-locking；Keep output shaft self-centering, the kinematic accuracy of output shaft can be improved.
Description
Technical field
The invention belongs to nanotechnology fields, are related to big stroke, high-resolution accurate displacement driver, in particular to
A kind of self-centering type piezoelectricity looper linear motor.
Background technique
Piezoelectricity looper linear motor is that one kind had not only been able to achieve millimeter and the big stroke of Centimeter Level but also had been able to achieve nano level high resolution
The accurate displacement driver of rate.It is creeped principle based on the looper in bionics, and the micro-displacement of piezo actuator is constantly tired
Add, to become continuous big travel displacement.Relative to electromagnetic type linear motor, piezoelectricity looper linear motor with no magnetic field,
It is easily controllable, be not present end effect and force oscillation the advantages that；Relative to piezoelectric straight lines such as ultrasound resonance formula, inertia driven types
Motor has many advantages, such as big High power output, power density, positioning stablity, without fretting wear.Therefore, it is certain need big stroke,
High-resolution precision positioning field, piezoelectricity looper linear motor are more advantageous.But current piezoelectricity looper linear motor is also
It has the disadvantage that
1) motor complicated integral structure, not compact；
2) the clamper displacement or release displacement of clamping unit are the output displacement of piezo actuator therein, and piezo actuator
Output displacement very little, for enable clamping unit reliably clamper and release, it is desirable to clamping unit and driving unit will have
Very high processing and assembly precision；
3) output displacement of clamping unit is smaller, cannot carry out abundant clamper to output shaft or release, output shaft cannot be abundant
Clamper, the clamper power being subject to will reduce, and kinetic stability will reduce；Output shaft cannot sufficiently be discharged, and will be generated
Serious fretting wear reduces the service life of motor；
4) motor cannot self-locking (cannot power off clamper), i.e. motor when not working, output shaft cannot be clamped unit folder
Tightly.
Summary of the invention
The technical problem to be solved by the present invention is in view of the above-mentioned state of the art, provide simple and compact for structure, energy
Abundant clamper and release, power-off clamper and output shaft can a kind of self-centering self-centering type piezoelectricity looper linear motors.
The technical scheme of the invention to solve the technical problem is: a kind of self-centering type piezoelectricity looper straight-line electric
Machine, including output shaft, output sleeve are equipped with driving unit, and the both ends of driving unit are respectively equipped with the first clamping unit and the second pincers
Bit location, the first clamping unit and the second clamping unit difference clamper are in output shaft；Driving unit includes along output shaft axial direction
The 5th rigid portion being arranged and the 6th rigid portion are equipped with free gap, the 5th rigidity between the 5th rigid portion and the 6th rigid portion
Elastic component is also connected between portion and the 6th rigid portion, top is equipped with driving and is executed with piezoelectricity between the 5th rigid portion and the 6th rigid portion
Device.
To optimize above-mentioned technical proposal, the measure taken further include:
The structure of above-mentioned the first clamping unit and the second clamping unit is identical, the stiffening ring including being fixed at driving unit,
Three are surrounded on the bridge-type enlarger of output shaft, and the release piezo actuator in bridge-type enlarger；Bridge-type
Enlarger includes the third rigid portion for being connected in stiffening ring, and for clamper in the 4th rigid portion of output shaft, opposite direction is set to third rigidity
First rigid portion and the second rigid portion in portion and the 4th rigid portion two sides, the first rigid portion of connection that sequentially assumes diamond in shape, the 4th rigidity
Portion, the second rigid portion, third rigid portion and the first rigid portion flexible thin；Release piezo actuator top is set to the first rigidity
Between portion and the second rigid portion.
The above-mentioned driving tube-like piece that piezo actuator is that gap is sheathed on output shaft.
The 5th above-mentioned rigid portion is equipped with the first limiting section, and the first limiting section is placed in the pipe of driving piezo actuator
It is interior.
The outer peripheral surface of above-mentioned the 5th rigid portion and the 6th rigid portion is evenly distributed with respectively there are three the groove towards stiffening ring, recessed
The first threaded hole is equipped in slot, stiffening ring is equipped with the square protruding for being fitted to groove, and square protruding is equipped with same with the first threaded hole
Second through-hole of axis, is threaded with attachment screw between the second through-hole and the first threaded hole.
Above-mentioned elastic component is flexible folding beam；The end of 6th rigid portion is equipped with coaxial with piezo actuator with driving
Second threaded hole, the second threaded hole internal screw thread are fitted with the second pre-loading screw, and the second pre-loading screw is equipped with to be passed through for output shaft
Axis hole, the second pre-loading screw are equipped with the second limiting section, and the second limiting section is placed in the pipe of driving piezo actuator.
Above-mentioned the first limiting section, the 5th rigid portion, flexible folding beam and the 6th rigid portion is integrally formed part；First just
Property portion be equipped with the third threaded hole that piezo actuator is used in face release, third threaded hole internal screw thread is fitted with the first pre-loading screw,
Stiffening ring is equipped with the first through hole passed through for the first pre-loading screw.
The first above-mentioned limiting section is the annular element in the 5th rigid portion；Second limiting section is to pre-tighten spiral shell set on second
The annular element nailed on.
Another implementation of above-mentioned the first limiting section and the second limiting section is respectively the strip for being parallel to output shaft
Part.
Above-mentioned stiffening ring and bridge-type enlarger is integrally formed part.
Compared with prior art, a kind of self-centering type piezoelectricity looper linear motor of the invention, including output shaft, output shaft
It is arranged with driving unit, the both ends of driving unit are respectively equipped with the first clamping unit and the second clamping unit, the first clamping unit
With the second clamping unit difference clamper in output shaft；Driving unit includes the 5th rigid portion being axially arranged along output shaft and
Six rigid portions are equipped with free gap between the 5th rigid portion and the 6th rigid portion, between the 5th rigid portion and the 6th rigid portion also
It is connected with elastic component, top is equipped with driving piezo actuator between the 5th rigid portion and the 6th rigid portion.First clamping unit and
Two clamping units can carry out clamper to output shaft when power is off, and when energization can be such that output shaft discharges；Driving is logical with piezo actuator
The 5th rigid portion and the 6th rigid portion can be strutted after electricity, elastic component can playback the 5th rigid portion and the 6th rigid portion when power-off.
Output shaft can be made to move in the axial direction by the timing control to the first clamping unit, the second clamping unit and driving unit.With
Existing piezoelectricity looper linear motor is compared, the invention has the advantages that
1) motor overall structure is simple, compact；
2) clamping mechanism integration, driving mechanism integration, eliminate assembly and adjustment process；
3) clamping mechanism is made of bridge-type enlarger, is easy to the assembly and adjusting of output shaft, output shaft can sufficiently be discharged and
Abundant clamper, and then the fretting wear between output shaft and clamping mechanism can be reduced and improve the driving force of output shaft；
4) motor can be self-locking, can power off clamper, and for motor when not working, output shaft can be clamped unit clamping；
5) output shaft is clamped at each clamper end by three the 4th rigid portions, these three the 4th rigid portions are while clamping
To axe movement, to keep output shaft self-centering, this can improve the kinematic accuracy of output shaft.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is structural schematic diagram of the present invention perpendicular to output shaft visual angle；
Fig. 3 is the complete section structural schematic diagram of Fig. 2；
Fig. 4 is the schematic diagram of the section structure in the portion A-A in Fig. 2；
Fig. 5 is the decomposition diagram of Fig. 3；
Fig. 6 is the decomposition diagram of Fig. 1；
Fig. 7 is the decomposition diagram of Fig. 4；
Fig. 8 is the enlarged structure schematic diagram in the portion B in Fig. 4；
Fig. 9 is structural schematic diagram of the first limiting section of the embodiment of the present invention two on driving unit；
Figure 10 is structural schematic diagram of the second limiting section of the embodiment of the present invention two on the second pre-loading screw；
Figure 11 is the energization timing diagram of the first clamping unit of the present invention, driving unit and the second clamping unit；
Figure 12 is the realization process schematic that output shaft is moved along forward direction in a period of motion T；
Figure 13 be in the period of motion T output shaft along the realization process schematic of reverse movement.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Fig. 1 to Figure 10 is structural schematic diagram of the invention, appended drawing reference therein are as follows: first the 1, first rigidity of clamping unit
Portion 11, third threaded hole 111, the second rigid portion 12, third rigid portion 13, the 4th rigid portion 14, flexible thin 15, release pressure
Electric actuator 16, stiffening ring 17, first through hole 171, the first pre-loading screw 18, square protruding 19, the second through-hole 191, driving are single
First 2, the 5th rigid portion 21, groove 211, the first threaded hole 212, the first limiting section 213, the 6th rigid portion 22, the second threaded hole
221, elastic component 23, output shaft 3, attachment screw 4, driving with piezo actuator 5, the second pre-loading screw 6, the second limiting section 61,
Axis hole 62, the second clamping unit 7.
Embodiment one, as shown in Fig. 1 to Fig. 8 a kind of self-centering type piezoelectricity looper linear motor, including output shaft 3, output shaft
3 are arranged with driving unit 2, and the both ends of driving unit 2 are respectively equipped with the first clamping unit 1 and the second clamping unit 7, the first clamper
Unit 1 and the second clamping unit 7 difference clamper are in output shaft 3；Driving unit 2 includes the 5 be axially arranged along output shaft 3
Rigid portion 21 and the 6th rigid portion 22 are equipped with free gap, the 5th rigid portion between the 5th rigid portion 21 and the 6th rigid portion 22
21 and the 6th are also connected with elastic component 23 between rigid portion 22, and top is equipped with driving and uses between the 5th rigid portion 21 and the 6th rigid portion 22
Piezo actuator 5.First clamping unit 1 and the second clamping unit 7 can carry out clamper to output shaft 3 when power is off, energy when energization
Discharge output shaft 3；Driving piezo actuator 5 can strut the 5th rigid portion 21 and the 6th rigid portion 22 after being powered, when power-off
Elastic component 23 can playback the 5th rigid portion 21 and the 6th rigid portion 22.By to the first clamping unit 1, the second clamping unit 7
Output shaft 3 can be made to move in the axial direction with the timing control of driving unit 2.
In embodiment, the first clamping unit 1 is identical with the structure of the second clamping unit 7, including is fixed at driving unit 2
Stiffening ring 17, three are surrounded on the bridge-type enlarger of output shaft 3, and the release piezoelectricity in bridge-type enlarger
Actuator 16；Bridge-type enlarger includes the third rigid portion 13 for being connected in stiffening ring 17, and clamper is in the 4th rigid portion of output shaft 3
14, opposite direction is set to the first rigid portion 11 and the second rigid portion 12 of 14 two sides of third rigid portion 13 and the 4th rigid portion, is sequentially in
Diamond shape connects the soft of the first rigid portion 11, the 4th rigid portion 14, the second rigid portion 12, third rigid portion 13 and the first rigid portion 11
Property thin plate 15；Release is set between the first rigid portion 11 and the second rigid portion 12 with the top of piezo actuator 16.In the power-off state,
14 clamper of the 4th rigid portion in bridge-type enlarger is in output shaft 3, when release piezo actuator 16, which is powered, to be extended, first
Rigid portion 11 and the second rigid portion 12 are released and are strutted with piezo actuator 16, by flexible thin 15 make the 4th rigid portion 14 with
The distance between third rigid portion 13 shortens, and discharges the 4th rigid portion 14 from output shaft 3.
In embodiment, the driving tube-like piece that piezo actuator 5 is that gap is sheathed on output shaft 3.Driving is executed with piezoelectricity
Device 5 strictly can strut the 5th rigid portion 21 and the 6th rigid portion 22 along 3 direction of output shaft when being powered elongation.
In embodiment, the 5th rigid portion 21 is equipped with the first limiting section 213, and the first limiting section 213 is placed in driving piezoelectricity
In the pipe of actuator 5.First limiting section, 213 energy Locating driver piezo actuator 5, prevents in driving piezo actuator 5
Mandrel generates offset.
In embodiment, the outer peripheral surface of the 5th rigid portion 21 and the 6th rigid portion 22 is uniformly distributed respectively, and there are three towards stiffening ring 17
Groove 211, the first threaded hole 212 is equipped in groove 211, stiffening ring 17 is equipped with the square protruding 19 for being fitted to groove 211, side
Shape protrusion 19 is equipped with second through-hole 191 coaxial with the first threaded hole 212, spiral shell between the second through-hole 191 and the first threaded hole 212
Line is connected with attachment screw 4.Square protruding 19 is stuck in groove 211, can prevent the rotation of stiffening ring 17, ensure that the 4th is rigid
Property portion 14 can accurately to output shaft 3 carry out clamper；Attachment screw 4 can prevent stiffening ring 17 axial de- along output shaft 3
From driving unit 2.
In embodiment, elastic component 23 is flexible folding beam；The end of 6th rigid portion 22 is equipped with and is executed with driving with piezoelectricity
The second coaxial threaded hole 221 of device 5,221 internal screw thread of the second threaded hole are fitted with the second pre-loading screw 6, and the second pre-loading screw 6 is set
There is the axis hole 62 passed through for output shaft 3, the second pre-loading screw 6 is equipped with the second limiting section 61, and the second limiting section 61 is placed in driving
In pipe with piezo actuator 5.When assembling driving piezo actuator 5, first passes through the second threaded hole 221 and hold driving with piezoelectricity
Row device 5 is sent into driving unit 2, and is placed in the first limiting section 213, then the second pre-loading screw 6 is screwed in the second threaded hole
In 221, driving piezo actuator 5 is made to be placed in the second limiting section 61.First limiting section 213 and the second limiting section 61 limit jointly
The central axis of driving processed piezo actuator 5 generates offset.
In embodiment, the first limiting section 213, the 5th rigid portion 21, flexible folding beam and the 6th rigid portion 22 are integrated into
Type part；First rigid portion 11 is equipped with the third threaded hole 111 that piezo actuator 16 is used in face release, spiral shell in third threaded hole 111
Line is fitted with the first pre-loading screw 18, and stiffening ring 17 is equipped with the first through hole 171 passed through for the first pre-loading screw 18.Release pressure
Electric actuator 16 is tightly connected by the first pre-loading screw 18 with bridge-type enlarger in advance.First limiting section 213, the 5th rigid portion
21, the integrated molding part structure of flexible folding beam and the 6th rigid portion 22 makes manufacturing process require low, easy to assembly, stability
It is good.
In embodiment, the first limiting section 213 is the annular element in the 5th rigid portion 21；Second limiting section 61 be set on
Annular element on second pre-loading screw 6.
In embodiment, stiffening ring 17 and bridge-type enlarger are integrally formed part, and being integrally formed part structure makes manufacturing process
It is required that low, easy to assembly, stability is good.
Embodiment two, as shown in Figure 9 and Figure 10, the present embodiment are similar to the structure in embodiment one, the difference is that this
In embodiment, the first limiting section 213 and the second limiting section 61 are respectively the bars for being parallel to output shaft 3.Due to driving pressure
Electric actuator 5 can extend after being powered, and will necessarily generate friction with the first limiting section 213 and the second limiting section 61, friction will necessarily
Cause material loss.The present embodiment can reduce this by the way that the first limiting section 213 and the second limiting section 61 are arranged to bars
Contact area between the two and driving piezo actuator 5, and then reduce friction.
Working principle of the present invention is as follows:
First clamping unit 1 or the 5th rigid portion 21 are fixed on platform, if along from first the 1 to the second clamper of clamping unit
The moving direction of unit 7 is forward direction, is reversed along the moving direction from second the 7 to the first clamping unit of clamping unit 1.
The realization process that output shaft 3 is moved along forward direction in a period of motion T is as follows: as shown in figure 12, the first step,
Discharge the first clamping unit 1 sufficiently from output shaft 3.Specific steps are as shown in Figure 11 (a), in the first clamping unit 1
Release is powered with piezo actuator 16, and the bridge-type enlarger deformation in the first clamping unit 1 drives the 4th Stiff Block towards third
Rigid Block direction is mobile, and the 4th Stiff Block is made to unclamp output shaft 3；
Second step extends driving unit 2, and the second clamping unit 7 is driven to push to the forward.The specific steps are when the first clamper list
It is single to driving as shown in Figure 11 (b) when the energization of release piezo actuator 16 in member 1 reaches stable state (such as t1 moment)
Driving in member 2 is powered with piezo actuator 5, and the driving elongation of piezo actuator 5 is simultaneously rigid by the 5th rigid portion 21 and the 6th
Portion 22 is strutted along 3 direction of output shaft, extends driving unit 2, and the 6th rigid portion 22 pushes the second clamping unit 7 to move to the forward
Dynamic, at the same time, the second clamping unit 7 drives output shaft 3 to move to the forward；
Third step, the first clamping unit 1 again clamper in output shaft 3.The specific steps are when the driving piezoelectricity in driving unit 2
When the energization of actuator 5 reaches stable state (such as t2 moment), as shown in Figure 11 (a), pressed to the release in the first clamping unit 1
Electric actuator 16 powers off, and the bridge-type enlarger in the first clamping unit 1 restores, by the 4th Stiff Block clamper in output shaft 3；
4th step, the second clamping unit 7 are sufficiently discharged from output shaft 3.The specific steps are when the release in the first clamping unit 1
When reaching stable state (such as t3 moment) with the power-off of piezo actuator 16, as shown in Figure 11 (c), in the second clamping unit 7
Release is powered with piezo actuator 16, and the bridge-type enlarger deformation in the second clamping unit 7 drives the 4th Stiff Block towards third
Rigid Block direction is mobile, and the 4th Stiff Block is made to unclamp output shaft 3；
5th step restores driving unit 2, drives the second clamping unit 7 toward reverse movement.The specific steps are when the second clamper list
It is single to driving as shown in Figure 11 (b) when the energization of release piezo actuator 16 in member 7 reaches stable state (such as t4 moment)
Driving in member 2 is powered off with piezo actuator 5, and driving piezo actuator 5, the 5th rigid portion 21 and the 6th rigid portion 22 are multiple
Position, driving unit 2 shorten, and drive the second clamping unit 7 toward reverse movement, so that output shaft 3 be made gradually to push the second clamper to
Unit 7 is finally reached the effect that output shaft 3 is moved along forward direction；
6th step, make the second clamping unit 7 again clamper in output shaft 3.The specific steps are when the driving pressure in driving unit 2
When the power-off of electric actuator 5 reaches stable state (such as t5 moment), as shown in Figure 11 (c), used to the release in the second clamping unit 7
Piezo actuator 16 powers off, and the bridge-type enlarger in the second clamping unit 7 restores, by the 4th Stiff Block clamper in output shaft
3。
Output shaft 3 is as follows along the realization process of reverse movement in a period of motion T:
As shown in figure 13, the first step discharges the second clamping unit 7 sufficiently from output shaft 3.Specific steps such as Figure 11 (a) institute
Show, is powered to the piezo actuator 16 of the release in the second clamping unit 7, the bridge-type enlarger in the second clamping unit 7 becomes
Shape drives the 4th Stiff Block mobile towards third rigidity Block direction, the 4th Stiff Block is made to unclamp output shaft 3；
Second step extends driving unit 2, and the second clamping unit 7 is driven to push to the forward.The specific steps are when the second clamper list
It is single to driving as shown in Figure 11 (b) when the energization of release piezo actuator 16 in member 7 reaches stable state (such as t1 moment)
Driving in member 2 is powered with piezo actuator 5, and the driving elongation of piezo actuator 5 is simultaneously rigid by the 5th rigid portion 21 and the 6th
Portion 22 is strutted along 3 direction of output shaft, extends driving unit 2, and the 6th rigid portion 22 pushes the second clamping unit 7 to move to the forward
It is dynamic；
Third step, the second clamping unit 7 again clamper in output shaft 3.The specific steps are when the driving piezoelectricity in driving unit 2
When the energization of actuator 5 reaches stable state (such as t2 moment), as shown in Figure 11 (a), pressed to the release in the second clamping unit 7
Electric actuator 16 powers off, and the bridge-type enlarger in the second clamping unit 7 restores, by the 4th Stiff Block clamper in output shaft 3；
4th step, the first clamping unit 1 are sufficiently discharged from output shaft 3.The specific steps are when the release in the second clamping unit 7
When reaching stable state (such as t3 moment) with the power-off of piezo actuator 16, as shown in Figure 11 (c), in the first clamping unit 1
Release is powered with piezo actuator 16, and the bridge-type enlarger deformation in the first clamping unit 1 drives the 4th Stiff Block towards third
Rigid Block direction is mobile, and the 4th Stiff Block is made to unclamp output shaft 3；
5th step restores driving unit 2, drives the second clamping unit 7 toward reverse movement.The specific steps are when the first clamper list
It is single to driving as shown in Figure 11 (b) when the energization of release piezo actuator 16 in member 1 reaches stable state (such as t4 moment)
Driving in member 2 is powered off with piezo actuator 5, and driving piezo actuator 5, the 5th rigid portion 21 and the 6th rigid portion 22 are multiple
Position, driving unit 2 shorten, and drive the second clamping unit 7 toward reverse movement, so that output shaft 3 be made gradually to push the first clamper to
Unit 1 is finally reached output shaft 3 along the effect of reverse movement；
6th step, make the first clamping unit 1 again clamper in output shaft 3.The specific steps are when the driving pressure in driving unit 2
When the power-off of electric actuator 5 reaches stable state (such as t5 moment), as shown in Figure 11 (c), used to the release in the first clamping unit 1
Piezo actuator 16 powers off, and the bridge-type enlarger in the first clamping unit 1 restores, by the 4th Stiff Block clamper in output shaft
3。
Highly preferred embodiment of the present invention has illustrated, and the various change or remodeling made by those of ordinary skill in the art are not
It can depart from the scope of the present invention.
Claims (10)
1. a kind of self-centering type piezoelectricity looper linear motor, including output shaft (3), it is characterized in that: the output shaft (3) is arranged
Have driving unit (2), the both ends of the driving unit (2) are respectively equipped with the first clamping unit (1) and the second clamping unit
(7), first clamping unit (1) and the second clamping unit (7) difference clamper are in the output shaft (3)；The drive
Moving cell (2) includes the 5th rigid portion (21) and the 6th rigid portion (22) being axially arranged along output shaft (3), and the described the 5th
Free gap, the 5th rigid portion (21) and the 6th rigid portion are equipped between rigid portion (21) and the 6th rigid portion (22)
(22) it is also connected between elastic component (23), top is equipped with driving and uses between the 5th rigid portion (21) and the 6th rigid portion (22)
Piezo actuator (5).
2. a kind of self-centering type piezoelectricity looper linear motor according to claim 1, it is characterized in that: first clamper
Unit (1) is identical with the structure of the second clamping unit (7), the rigidity including being fixed at the driving unit (2)
Ring (17), three are surrounded on the bridge-type enlarger of the output shaft (3), and in the bridge-type enlarger
Piezo actuator (16) are used in release；The bridge-type enlarger includes the third rigid portion for being connected in the stiffening ring (17)
(13), clamper is set to third rigid portion (13) and the 4th rigid portion in the 4th rigid portion (14) of the output shaft (3), opposite direction
(14) the first rigid portion (11) and the second rigid portion (12) of two sides, the connection the first rigid portion (11) that sequentially assumes diamond in shape, the 4th are just
Property portion (14), the second rigid portion (12), third rigid portion (13) and the first rigid portion (11) flexible thin (15)；Described releases
It puts and is set between first rigid portion (11) and the second rigid portion (12) with piezo actuator (16) top.
3. a kind of self-centering type piezoelectricity looper linear motor according to claim 2, it is characterized in that: the driving is pressed
Electric actuator (5) is the tube-like piece that gap is sheathed on the output shaft (3).
4. a kind of self-centering type piezoelectricity looper linear motor according to claim 3, it is characterized in that: the 5th rigidity
Portion (21) is equipped with the first limiting section (213), and first limiting section (213) is placed in the pipe of driving piezo actuator (5)
It is interior.
5. a kind of self-centering type piezoelectricity looper linear motor according to claim 4, it is characterized in that: the 5th rigidity
Uniformly there are three the grooves towards the stiffening ring (17) respectively for the outer peripheral surface of portion (21) and the 6th rigid portion (22)
(211), the first threaded hole (212) are equipped in the groove (211), the stiffening ring (17) be equipped be fitted to it is described recessed
The square protruding (19) of slot (211), the square protruding (19) are equipped with second coaxial with first threaded hole (212)
Through-hole (191) is threaded with attachment screw between second through-hole (191) and first threaded hole (212)
(4)。
6. a kind of self-centering type piezoelectricity looper linear motor according to claim 5, it is characterized in that: the elastic component
It (23) is flexible folding beam；The end of 6th rigid portion (22) is equipped with same with piezo actuator (5) with the driving
The second threaded hole (221) of axis, described the second threaded hole (221) internal screw thread are fitted with the second pre-loading screw (6), and described
Two pre-loading screws (6) are equipped with the axis hole (62) passed through for the output shaft (3), and second pre-loading screw (6) is equipped with the
Two limiting sections (61), second limiting section (61) are placed in pipe of the driving with piezo actuator (5).
7. a kind of self-centering type piezoelectricity looper linear motor according to claim 6, it is characterized in that: described first limits
Portion (213), the 5th rigid portion (21), flexible folding beam and the 6th rigid portion (22) are integrally formed part；First rigidity
Portion (11) is equipped with the third threaded hole (111) of release piezo actuator (16) described in face, the third threaded hole
(111) internal screw thread is fitted with the first pre-loading screw (18), and the stiffening ring (17) is equipped with to be passed through for the first pre-loading screw (18)
First through hole (171).
8. a kind of self-centering type piezoelectricity looper linear motor according to claim 7, it is characterized in that: described first limits
Portion (213) is the annular element in the 5th rigid portion (21)；Second limiting section (61) is set on the second pre-loading screw
(6) annular element on.
9. a kind of self-centering type piezoelectricity looper linear motor according to claim 7, it is characterized in that: described first limits
Portion (213) and the second limiting section (61) are respectively the bars for being parallel to the output shaft (3).
10. a kind of self-centering type piezoelectricity looper linear motor, feature according to claim 2 to 9 any claim
Be: the stiffening ring (17) and bridge-type enlarger are integrally formed part.
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