CN112383241B - Bidirectional inertia linear piezoelectric motor - Google Patents
Bidirectional inertia linear piezoelectric motor Download PDFInfo
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- CN112383241B CN112383241B CN202011369569.7A CN202011369569A CN112383241B CN 112383241 B CN112383241 B CN 112383241B CN 202011369569 A CN202011369569 A CN 202011369569A CN 112383241 B CN112383241 B CN 112383241B
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000007704 transition Effects 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 8
- 230000008602 contraction Effects 0.000 claims description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000005284 excitation Effects 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000005299 abrasion Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 3
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- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- H02N2/025—Inertial sliding motors
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Abstract
The invention discloses a bidirectional inertial linear piezoelectric motor, and belongs to the technical field of precise driving and positioning. Comprises a guide rail, a sliding block, a mounting plate and a driving mechanism; the driving mechanism comprises a bottom plate, a displacement amplifying piece, a pair of mass blocks and a piezoelectric stack. The deformation of the piezoelectric stack along the direction perpendicular to the guide rail is converted into the movement of the motor parallel to the guide rail by utilizing the inertia of the displacement amplifying piece and the pair of mass blocks, and the movement is converted into unidirectional movement by utilizing the self-clamping mechanism. Applying 1430Hz first-order frequency signals to the piezoelectric stack, and exciting the motor to generate a first-order resonance mode under the excitation of the first-order frequency signals, wherein the motor moves leftwards; a second order frequency signal of 2451Hz is applied to the piezoelectric stack 5, and the motor is excited by the second order frequency signal to generate a second order resonant mode, and the motor moves rightward. The invention has the maximum speed of 16.35mm/s, the maximum output force of 8.64N, the efficiency of 21.43 percent and small friction and abrasion, and can work in an environment needing long-term continuous operation.
Description
Technical Field
The invention belongs to the technical field of precise driving and positioning, and particularly relates to a bidirectional inertia linear piezoelectric motor.
Background
The piezoelectric motor has the advantages of simple structure, high response speed, high power density and the like, and is applied to the fields of medical treatment, aviation, precise positioning and the like. The conventional inertial motors can be divided into two types, namely an asymmetric signal type and an asymmetric structural type; the asymmetric structure type inertial piezoelectric motor is driven by utilizing the structural difference of the motor to generate inertial impact in the reciprocating motion process, and can only realize unidirectional motion mostly. Referring to fig. 7, the prior art inertial piezoelectric motor with an asymmetric structure has a maximum speed of 3.178mm/s, a maximum output force of 4.25N and an efficiency of 6.2%, and adopts a piezoelectric bimorph as a driving element of the motor, so that the output performance of the motor such as speed, output force, efficiency and the like is low; the motor cannot realize bidirectional movement, and the application range of the motor is limited.
Disclosure of Invention
In order to realize bidirectional movement and improve the speed, output force and efficiency of the motor, the invention provides a bidirectional inertial linear piezoelectric motor through structural improvement.
The bidirectional inertia linear piezoelectric motor comprises a guide rail 7, a sliding block 6, a mounting plate 2 and a driving mechanism, wherein the mounting plate 2 is an L-shaped plate, one side of the mounting plate 2 is a long side plate, and the other side of the mounting plate is a short side plate; the long side plate of the mounting plate 2 is fixed on the sliding block 6, the sliding block 6 is in sliding fit with the guide rail 7, and the driving mechanism is arranged on the short side plate of the mounting plate 2;
a first flexible hinge is arranged between the long side plate and the short side plate of the mounting plate 2;
the driving mechanism comprises a bottom plate 1, a displacement amplifying piece 3, a piezoelectric stack 5 and a pair of mass blocks 4;
the bottom plate 1 comprises a horizontal front end plate 11, a horizontal connecting plate 14 and an upright side plate 15 which are sequentially connected; the horizontal front end plate 11 is parallel to the guide rail 7, and the bottom plate 1 is fixed on a short side plate of the mounting plate 2 through a connecting plate; the displacement amplifying piece 3 is a hollow quadrilateral, and the four corners of the displacement amplifying piece 3 are respectively provided with a second flexible hinge; the outer part of one side of the displacement amplifying piece 3 is fixedly connected with the vertical side plate 15 through a connecting mounting plate 31; the piezoelectric stacks 5 are fixedly arranged in the cavities of the displacement amplifying pieces 3, and the pair of mass blocks 4 are symmetrically arranged outside the displacement amplifying pieces 3 through the mass block mounting plates 35;
setting the direction parallel to the guide rail 7 as an x-axis and the direction perpendicular to the guide rail 7 as a y-axis; the piezoelectric stack 5 is positioned in the y-axis direction, and the pair of mass blocks 4 is positioned in the y-axis direction;
when 1430Hz first-order frequency signals are input to the piezoelectric stack 5, the motor generates a first-order resonance mode, and the sliding block 6 moves leftwards along the guide rail 7 with the driving mechanism; when 2451Hz second-order frequency signals are input to the piezoelectric stack 5, the motor generates a second-order resonance mode, and the sliding block 6 moves rightward along the guide rail 7 with the driving mechanism; under the action of the second flexible hinge, the deformation of the piezoelectric stack 5 along the direction perpendicular to the guide rail is converted into the contraction or expansion of the displacement amplifying piece 3 along the direction parallel to the guide rail 7; the mass block 4 is used for increasing the inertia of the displacement amplifying piece 3, so that the contraction or expansion of the displacement amplifying piece 3 parallel to the direction of the guide rail 7 is converted into the movement of the sliding block 6 on the guide rail 7; the base plate 1 is driven to rotate around the flexible hinge on the mounting plate 2 in a vibration mode, so that the function of clamping or loosening the guide rail 7 by the base plate 1 is realized.
The further defined technical scheme is as follows:
the bottom plate 1 comprises a horizontal front end plate 11, a vertical connecting plate 12, a horizontal connecting plate 14 and a vertical side plate 15, wherein one end of the horizontal front end plate 11 is fixedly connected with the lower end of one side surface of the vertical connecting plate 12, and one end of the horizontal connecting plate 14 is fixedly connected with the upper end of the other side surface of the vertical connecting plate 12; the other end of the horizontal connecting plate 14 is fixedly connected with the middle part of one side surface of the vertical side plate 15; a pair of kidney-shaped holes 13 are formed in the vertical connecting plate 12, and the bottom plate 1 is fixed on the mounting plate 2 through bolts and the pair of kidney-shaped holes 13; the horizontal connecting plate 14 is connected with the end part of the short side plate of the mounting plate 2 through a pre-tightening bolt in a matched manner, so that the pre-tightening force between the horizontal front end plate 11 of the bottom plate and the guide rail 7 is adjusted.
The long side plate 24 and the short side plate 21 of the mounting plate 2 are connected by a first flexible hinge 23; four through holes are formed in the long side plate 24; in operation, the short side plate 21 swings under the action of the first flexible hinge 23, so that the horizontal front end plate 11 and the surface of the guide rail 7 are contacted or separated.
The displacement amplifying member 3 includes a pair of piezoelectric stack mounting plates 33 and a pair of transition plates 34; the two sides of the inner side of one piezoelectric stack mounting plate 33 are respectively connected with one end of a pair of transition plates 34 through second flexible hinges, and the two sides of the inner side of the other piezoelectric stack mounting plate 33 are respectively connected with the other ends of the pair of transition plates 34 through second flexible hinges, so that a hollow quadrilateral is formed; the middle part of the one-side transition plate 34 is fixedly connected with the middle part of the connecting mounting plate 31 through a pair of second flexible hinges, and the displacement amplifying piece 3 is fixed on the bottom plate 1 through the fixed connection of the connecting mounting plate 31 and the upright side plate 15; the middle part of the other side transition plate 34 is fixedly connected with one end of the mass block mounting plate 35 through a pair of second flexible hinges, and a pair of mass blocks 4 are symmetrically fixed on two side surfaces of the mass block mounting plate 35.
The piezoelectric stack 5 is formed by stacking a plurality of piezoelectric sheets, and the piezoelectric sheets are made of piezoelectric ceramics.
The material of the pair of masses 4 is copper.
The beneficial technical effects of the invention are as follows:
1. the inertial piezoelectric motor can realize bidirectional motion by switching the frequency of the driving signal;
2. the inertia piezoelectric motor disclosed by the invention works in a resonance state and has high working frequency, and the driving element is a piezoelectric stack, so that the performance of the inertia piezoelectric motor such as speed, output force, efficiency and the like is higher than that of the previous inertia piezoelectric motor; the maximum speed of the inertial piezoelectric motor is 16.35mm/s, the maximum output force is 8.64N, and the efficiency is 21.43%.
3. The inertial piezoelectric motor provided by the invention has a simple structure, adopts a self-clamping mechanism, has small friction and wear, and can work in an environment requiring long-term continuous operation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is an assembly exploded view.
Fig. 3 is a schematic structural diagram of the base plate and the mounting plate.
Fig. 4 is a schematic top view of the displacement amplifying member.
Fig. 5 is an assembled exploded view of the displacement amplifying member.
Fig. 6 is a schematic diagram of the principle of leftward movement of the motor.
Fig. 7 is a schematic diagram of the principle of rightward movement of the motor.
Fig. 8 is a schematic diagram of an inertial piezoelectric motor according to the prior art.
Number in the upper diagram: the piezoelectric transducer comprises a bottom plate 1, a mounting plate 2, a displacement amplifying piece 3, a mass block 4, a piezoelectric stack 5, a sliding block 6, a guide rail 7, a horizontal front end plate 11, a vertical connecting plate 12, a kidney-shaped hole 13, a horizontal connecting plate 14, a vertical side plate 15, a short side plate 21, a side surface 22 of the short side plate, a first flexible hinge 23, a long side plate 24, a connecting mounting plate 31, a second flexible hinge 32, a piezoelectric stack mounting plate 33, a transition plate 34 and a mass block mounting plate 35.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings.
Examples
Referring to fig. 1, a bi-directional inertial linear piezoelectric motor includes a guide rail 7, a slider 6, a mounting plate 2, and a drive mechanism.
Referring to fig. 3, the mounting plate 2 is an L-shaped plate, one side of the mounting plate 2 is a long side plate 24, and the other side is a short side plate 21; a first flexible hinge 23 is provided between the long side plate 24 and the short side plate 21. Referring to fig. 2, four through holes are formed in each of the long side plates 24 of the mounting plate 2, and the long side plates 24 are fixed to the slider 6 by the four through holes and four bolts. The sliding block 6 is in sliding fit with the guide rail 7, and the driving mechanism is fixedly arranged on the short side plate of the mounting plate 2.
Four through holes are formed in the long side plates 24; in operation, the short side plate 21 swings under the action of the first flexible hinge 23, so that the horizontal front end plate 11 and the surface of the guide rail 7 are contacted or separated.
Definition: in the plane of the guide rail 7, the direction parallel to the guide rail 7 is the x-axis, and the direction perpendicular to the guide rail 7 is the y-axis.
Referring to fig. 1, the driving mechanism includes a base plate 1, a displacement amplifying member 3, a piezoelectric stack 5, and a pair of masses 4.
Referring to fig. 3, the base plate 1 includes a horizontal front end plate 11, a horizontal connecting plate 14, and an upright side plate 15 connected in this order. One end of the horizontal front end plate 11 is fixedly connected with the lower end of one side surface of the vertical connecting plate 12, and one end of the horizontal connecting plate 14 is fixedly connected with the upper end of the other side surface of the vertical connecting plate 12; the other end of the horizontal connecting plate 14 is fixedly connected with the middle part of one side surface of the vertical side plate 15; a pair of kidney-shaped holes 13 are formed in the vertical connecting plate 12, and the bottom plate 1 is fixed on the mounting plate 2 through bolts and the pair of kidney-shaped holes 13; the horizontal front end plate 11 is parallel to the guide rail 7, the horizontal connecting plate 14 is connected with the end part of the short side plate 21 of the mounting plate 2 in a matched manner through a pre-tightening bolt, and the pre-tightening force between the horizontal front end plate 11 of the bottom plate and the guide rail 7 is adjusted. Referring to fig. 5, the displacement amplifying member 3 is a hollow quadrilateral, and the four corners of the displacement amplifying member 3 are respectively provided with a second flexible hinge 23; the displacement amplifying member 3 is fixedly connected to the upright side plate 15 at one side outer portion thereof through a connection mounting plate 31.
Referring to fig. 4 and 5, the displacement amplifying element 3 includes a pair of piezoelectric stack mounting plates 33 and a pair of transition plates 34; two sides of one piezoelectric stack mounting plate 33 are respectively connected with one ends of a pair of transition plates 34 through second flexible hinges, and two sides of the other piezoelectric stack mounting plate 33 are respectively connected with the other ends of the pair of transition plates 34 through second flexible hinges to form a hollow quadrilateral; the middle part of the one-side transition plate 34 is fixedly connected with the middle part of the connecting mounting plate 31 through a pair of second flexible hinges, and the displacement amplifying piece 3 is fixed on the bottom plate 1 through the fixed connection of the connecting mounting plate 31 and the upright side plate 15; the middle part of the other side transition plate 34 is fixedly connected with one end of the mass block mounting plate 35 through a pair of second flexible hinges, and a pair of mass blocks 4 are symmetrically fixed on two side surfaces of the mass block mounting plate 35. The piezoelectric stack 5 is fixedly installed in the cavity of the displacement amplifying member 3, and both ends are fixedly connected to a pair of piezoelectric stack mounting plates 33, respectively. The piezoelectric stack 5 is located in the y-axis direction, and in operation, extends or shortens in the y-axis direction, and due to the presence of the second flexible hinge 32, the deformation of the piezoelectric stack 5 in the y-axis direction is converted into the contraction or expansion of the displacement amplifying member 3 in the x-axis direction. A pair of masses 4 are located in the y-axis direction, the pair of masses 4 being arranged to increase the inertia in operation.
The piezoelectric stack 5 is formed by stacking a plurality of piezoelectric sheets, and the piezoelectric sheets are made of piezoelectric ceramics. The material of the pair of masses 4 is copper and the mass is 50g. The material of the base plate 1, the mounting plate 2 and the displacement amplifying piece 3 is 65Mn steel.
When the bidirectional inertia linear piezoelectric motor works, the first-order frequency of the leftward movement work is 1430Hz, and the second-order frequency of the rightward movement work is 2451Hz; the driving voltage was 220V.
Referring to fig. 6 and 7, the principle of the bi-directional inertial linear piezoelectric motor is explained as follows:
referring to fig. 1 and 6 (1), initially the front end of the base plate 1 is in contact with the guide rail 7, the contact point is a, a 1430Hz first-order frequency signal is applied to the piezoelectric stack 5, and the motor is excited by the first-order frequency signal to generate a first-order resonance mode; the motor action process is as follows:
step one: referring to fig. 6 (2), when the piezoelectric stack 5 extends in the y-axis direction, the displacement amplifying member 3 contracts in the x-axis direction to drive the mass block 4 to move leftwards, the bottom plate 1 rotates clockwise around the first flexible hinge 23, so that the front end of the bottom plate 1 is not contacted with the guide rail 7 any more, and the sliding block moves leftwards;
step two: referring to fig. 6 (3), the piezoelectric stack 5 is inWhen the y-axis direction is contracted, the displacement amplifying piece 3 expands in the X-axis direction to drive the mass block 4 to move rightwards, the bottom plate 1 rotates anticlockwise around the first flexible hinge 23, the front end of the bottom plate 1 is caused to contact with the guide rail 7, the sliding block stops moving under the action of friction force, at the moment, the contact point of the bottom plate 1 and the guide rail 7 is the point B, the motor moves leftwards for a step distance delta X from the point A to the point B in one period 1 。
The steps are repeated, and the bidirectional inertia linear piezoelectric motor realizes macroscopic continuous leftward movement.
Referring to fig. 1 and 7 (1), initially, the front end of the base plate 1 contacts with the guide rail 7, the contact point is C, a second-order frequency signal of 2451Hz is applied to the piezoelectric stack 5, and the motor generates a second-order resonance mode under the excitation of the second-order frequency signal, and the motor acts as follows:
step one: referring to fig. 7 (2), when the piezoelectric stack 5 is contracted in the y-axis direction, the displacement amplifying member 3 expands in the x-axis direction to drive the mass block 4 to move rightward, the bottom plate 1 rotates clockwise around the first flexible hinge 23, so that the front end of the bottom plate 1 is not contacted with the guide rail 7 any more, and the sliding block moves rightward;
step two: referring to fig. 7 (3), when the piezoelectric stack 5 extends in the y-axis direction, the displacement amplifying member 3 contracts in the X-axis direction to drive the mass block 4 to move leftwards, the bottom plate 1 rotates anticlockwise around the first flexible hinge 23, the front end of the bottom plate 1 contacts with the guide rail 7, the sliding block stops moving under the action of friction force, at this time, the contact point between the bottom plate 1 and the guide rail 7 is point D, the motor moves rightwards by a step distance Δx from point C to point D in one period 2 。
The two-way inertial linear piezoelectric motor realizes macroscopic continuous rightward movement by repeating the steps.
Claims (6)
1. A bidirectional inertia linear piezoelectric motor comprises a guide rail (7), a sliding block (6), a mounting plate (2) and a driving mechanism, wherein the mounting plate (2) is an L-shaped plate, one side of the mounting plate (2) is a long side plate, and the other side of the mounting plate is a short side plate; the long side plate of mounting panel (2) is fixed on slider (6), slider (6) and guide rail (7) sliding fit, actuating mechanism locates on the short side plate of mounting panel (2), its characterized in that:
a first flexible hinge is arranged between the long side plate and the short side plate of the mounting plate (2);
the driving mechanism comprises a bottom plate (1), a displacement amplifying piece (3), a piezoelectric stack (5) and a pair of mass blocks (4);
the bottom plate (1) comprises a horizontal front end plate (11), a horizontal connecting plate (14) and an upright side plate (15) which are sequentially connected; the horizontal front end plate (11) is parallel to the guide rail (7), and the bottom plate (1) is fixed on a short side plate of the mounting plate (2) through a connecting plate; the displacement amplifying piece (3) is a hollow quadrilateral, and the four corners of the displacement amplifying piece (3) are respectively provided with a second flexible hinge; the outer part of one side of the displacement amplifying piece (3) is fixedly connected with the vertical side plate (15) through a connecting mounting plate (31); the piezoelectric stacks (5) are fixedly arranged in the cavities of the displacement amplifying pieces (3), and the pair of mass blocks (4) are symmetrically arranged outside the displacement amplifying pieces (3) through mass block mounting plates (35);
setting the direction parallel to the guide rail (7) as an x-axis and the direction perpendicular to the guide rail (7) as a y-axis; the piezoelectric stack (5) is positioned in the y-axis direction, and the pair of mass blocks (4) are positioned in the y-axis direction;
when 1430Hz first-order frequency signals are input to the piezoelectric stack (5) so that the motor generates a first-order resonance mode, the sliding block (6) moves leftwards along the guide rail (7) with the driving mechanism; when 2451Hz second-order frequency signals are input to the piezoelectric stack (5), the motor generates a second-order resonance mode, and the sliding block (6) moves rightwards along the guide rail (7) along the driving mechanism; under the action of a second flexible hinge, the deformation of the piezoelectric stack (5) along the direction perpendicular to the guide rail is converted into the contraction or expansion of the displacement amplifying piece (3) along the direction parallel to the guide rail (7); the mass block (4) is used for increasing the inertia of the displacement amplifying piece (3) so that the contraction or expansion of the displacement amplifying piece (3) parallel to the direction of the guide rail (7) is converted into the movement of the sliding block (6) on the guide rail (7); the base plate (1) is driven to rotate around a flexible hinge on the mounting plate (2) in a vibration mode, so that the function of clamping or loosening the guide rail (7) by the base plate (1) is realized.
2. A bi-directional inertial linear piezoelectric motor according to claim 1, wherein: the bottom plate (1) comprises a horizontal front end plate (11), a vertical connecting plate (12), a horizontal connecting plate (14) and a vertical side plate (15), one end of the horizontal front end plate (11) is fixedly connected with the lower end of one side surface of the vertical connecting plate (12), and one end of the horizontal connecting plate (14) is fixedly connected with the upper end of the other side surface of the vertical connecting plate (12); the other end of the horizontal connecting plate (14) is fixedly connected with the middle part of one side surface of the vertical side plate (15); a pair of kidney-shaped holes (13) are formed in the vertical connecting plate (12), and the bottom plate (1) is fixed on the mounting plate (2) through bolts and the pair of kidney-shaped holes (13); the horizontal connecting plate (14) is connected with the end part of the short side plate of the mounting plate (2) in a matched manner through a pre-tightening bolt, so that the pre-tightening force between the horizontal front end plate (11) of the bottom plate and the guide rail (7) is adjusted.
3. A bi-directional inertial linear piezoelectric motor according to claim 1, wherein: the long side plate (24) and the short side plate (21) of the mounting plate (2) are connected by a first flexible hinge (23); four through holes are formed in the long side plate (24); when the device works, the short side plate (21) swings under the action of the first flexible hinge (23), so that the horizontal front end plate (11) and the surface of the guide rail (7) are contacted or separated.
4. A bi-directional inertial linear piezoelectric motor according to claim 1, wherein: the displacement amplifying piece (3) comprises a pair of piezoelectric stack mounting plates (33) and a pair of transition plates (34); one piezoelectric pile mounting plate (33) is connected with one end of a pair of transition plates (34) through a second flexible hinge respectively, and the other piezoelectric pile mounting plate (33) is connected with the other end of the pair of transition plates (34) through the second flexible hinge respectively to form a hollow quadrilateral; the middle part of one side transition plate (34) is fixedly connected with the middle part of the connecting mounting plate (31) through a pair of second flexible hinges, and the displacement amplifying piece (3) is fixed on the bottom plate (1) through the fixed connection of the connecting mounting plate (31) and the vertical side plate (15); the middle part of the transition plate (34) at the other side is fixedly connected with one end of the mass block mounting plate (35) through a pair of second flexible hinges, and a pair of mass blocks (4) are symmetrically fixed on two side surfaces of the mass block mounting plate (35).
5. A bi-directional inertial linear piezoelectric motor according to claim 1, wherein: the piezoelectric stack (5) is formed by stacking a plurality of piezoelectric sheets, and the piezoelectric sheets are made of piezoelectric ceramics.
6. A bi-directional inertial linear piezoelectric motor according to claim 1, wherein: the pair of mass blocks (4) is made of copper.
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| CN112865596B (en) * | 2021-03-30 | 2024-04-12 | 吉林大学 | Large-stroke piezoelectric inertia driving platform |
| CN113078844B (en) * | 2021-04-21 | 2022-03-29 | 吉林大学 | Device and method for expanding inertia force to improve performance of piezoelectric actuator |
| CN113220166B (en) * | 2021-05-31 | 2024-05-17 | 北京京东方技术开发有限公司 | Touch reproduction substrate, driving method thereof and electronic equipment |
| CN113206616A (en) * | 2021-05-31 | 2021-08-03 | 苏州大学 | Cross-scale precision motion platform |
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| CN107005179B (en) * | 2014-09-16 | 2019-02-15 | 统雷有限公司 | Scale-up version piezoelectric actuator with motorized adjustment screw |
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| CN108322089A (en) * | 2018-03-04 | 2018-07-24 | 长春工业大学 | The big stroke inertial piezoelectric drive motor of double rod loaded type and its motivational techniques |
| CN109039149A (en) * | 2018-09-10 | 2018-12-18 | 合肥工业大学 | A kind of inertia Linear piezoelectric motor |
| CN109818524A (en) * | 2019-03-22 | 2019-05-28 | 吉林大学 | Precision Piezoelectric driving device and method based on pinion shape Bionic flexible mechanism |
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