CN209072373U - Device including actuator and mobile main body - Google Patents

Abstract

The utility model relates to a kind of including actuator and move the device of main body, comprising: the actuator and the mobile main body；Wherein: the actuator is single-layer or multi-layer flat type, wherein, there are two electrodes at least one layer tool, described two electrodes are separated from each other by straight line separated region and are positioned relative to each other in the upper and lower surfaces of at least one described layer, and the electrode arrangement of the upper surface is at the electrode for deviating from the lower surface, the actuator includes at least one friction element, the friction element is arranged along the straight line separated region, the mobile main body has at least part of spherical surface, and the friction element is configured to tangentially for driving force to be transferred to the spherical surface of the mobile main body.The utility model can realize the movement along two axial directions while with relatively easy design, and additionally be able to generate rotary motion.

Description

Device including actuator and mobile main body

Technical field

The utility model relates to a kind of actuator (preferably piezoelectric actuator) and it is equipped with cause according to the present utility model The motor of dynamic device.

Background technique

In many applications of such as mobile phone and so-called smart phone, exists and manufacture corresponding smaller and smaller or get over Carry out the needs of more flat relevant device.As a result, it is desirable to it is more and more used for smaller, the more flat design part of this equipment, Due to manufacturing and assembling, these components should also be designed to simple as much as possible.2 216 837 A1 of EP is described wherein A kind of piezo-electric motor of simple designs only occupies very small space and has straight plate shape actuator, the actuating Device for example can be used to drive the auto-focusing of mobile phone camera.However, the actuator or motor that show only allow along one The movement of a axis.In some cases .., it is necessary to correspondingly require corresponding motor allow along two axial directions movement or Person's motor generates rotating drive movements.

Utility model content

Therefore, the purpose of the utility model is to provide such a actuators: it is correspondingly designed to small or flat, energy Enough movements realized while with relatively easy design along two axial directions, and additionally be able to generate rotary motion.

The purpose realized by the actuator of single-layer or multi-layer flat type (preferably having piezoelectric material), wherein at least There are two electrode, described two electrodes are separated from each other by separated region and are positioned relative to each other described one layer tool In the upper and lower surfaces of at least one layer, and two electrode arrangements of upper surface are at two electrodes for deviateing lower surface.

Through two electrodes being positioned relative to each other on the upper surface of layer, the electrical contact appropriate and actuating the case where Under, the vibration deformation along first axial direction of actuator can be generated, wherein the vibration deformation can be used to accurately edge The first axial direction drives to wanting already driven elements.The lower surface being disposed offset by means of the electrode with upper surface Electrode, at this time by it is appropriate electrical contact and actuating can generate actuator along the second different axial directions vibration become Shape.These vibration deformations can also be used to movement and want already driven elements, can be used to movement and want along second axial direction Already driven elements.

The electric actuation of the electrode of upper and lower surfaces is preferably shaken under mechanical resonance frequency by excitation with actuator The mode of dynamic (especially in ultrasonic range) is realized.In particularly preferred mode, actuator is in second longitudinal direction resonant frequency Or operated under the excitation of the second longitudinal direction resonant frequency of integral multiple, wherein longitudinal direction is correspondingly expressed as follows direction, that is, upper table The corresponding electrode arrangement positioned opposite of face and lower surface or the arrangement correspondingly direction.

By excitation second longitudinal direction resonant frequency or the second longitudinal direction resonant frequency of integral multiple, the vibration for generating actuator becomes Shape, the vibration deformation are substantially in the plane of actuator.In order to by the periodically deforming of actuator or vibration to wanting Along the longitudinal direction already driven elements generate driving movement, deformation must have with electric actuation signal match it is very specific when Sequence.With during wanting the actuator driving of already driven elements CONTACT WITH FRICTION to want the driving movement step of already driven elements, agree The fixed fairly slow deformation occurred along the longitudinal direction so that actuator and wanting do not occur between already driven elements it is opposite slide, That is, actuator and to want the static friction condition between already driven elements that should occupy leading.On the contrary, executing in actuator along opposite During the return movement step of the deformation in direction, there is comparatively faster deformation certainly in a longitudinal direction, so that static friction item Part stops and sliding friction occurs.In such manner, it is possible to realize that actuator court wants the opposite sliding of already driven elements, and returning Actuator, which does not drive, during returning movement step wants already driven elements.Correspondingly generate so-called stick-slip driving or stick-slip.

The electric actuation of the electrode of upper and lower surfaces can be complete separated or phase interaction in terms of the time With and in time be coordinate.For distinct actuating, for example, can occur first upper surface electrode it is independent Actuating, so that generating the movement for the element to be driven by actuator for example in the first axial direction (for example, on the direction x). Once reach the predetermined x position for wanting already driven elements, it just can be axial second by the individually actuating of the electrode of lower surface The movement for wanting already driven elements is generated on direction (for example, in y-direction).

Pass through the electric actuation of the time coordination of the electrode of upper and lower surfaces, that is, by realizing about actuating signal Phase shift or phase difference can generate the deformation for leading to rotating drive movements.Such as the friction at the center of actuator is set Element (it is arranged to and wants already driven elements CONTACT WITH FRICTION) can be by the electrodes of upper and lower surfaces in time That coordinates electrically activates to execute circular motion, therefore wants already driven elements to make this that already driven elements be wanted to enter by driving Rotary motion.

The preferred embodiment of actuator according to the present utility model is the theme of dependent claims.

For actuator, the shape of shape, preferably square plate with polygonal panel can be advantageous.Also It is conceivable that making actuator that there is shape, the shape of preferably circular plate for enclosing shape plate, or the geometry with annular slab.

This embodiment of actuator extends design alternative, and for example allows to make in or actuator suitable to actuator Geometry or structural condition are correspondingly specifically modified.

The electrode arrangement of upper surface deviates basic 90 ° at the electrode of lower surface, and can have advantage.

This configuration about electrode arrangement brings especially effective and efficient type driving.The electrode of upper surface and/or The electrode arrangement of lower surface is also that can have advantage at mirror images of each other.

In addition, separated region be substantially linear be also possible to it is advantageous.This allows for relatively large surface electrode Region and the also relatively easy execution in terms of manufacturing technology.

In addition, actuator includes that at least one friction element is also possible to advantageous, wherein the friction element is along linear point It is arranged from region, is preferably arranged in the center or one end in linear separation region.

Currently, mean at the center of linear separated region at the center longitudinally extended about separated region.However, for example It provides and is spaced apart and-prejudicially arranged along linear separated region two of the center-longitudinally extended relative to separated region Friction element is also possible to advantageous.By increasing the quantity of friction element, higher driving force can be realized.

Can also have with the friction element for being inserted into actuator, being preferably inserted into the through-hole being arranged in actuator It is advantageous.

The design of this arrangement about friction element allows specifically to repair the condition that actuator can be used Change.In the case where actuator design is polygonal panel and preferably square plate, such as spherical or hemispheric friction member Arrangement of the part at the center of linear separated region is advantageous, this is because maximum deformation usually occurs here.Linear The center of separated region currently means at the center longitudinally extended about separated region.However, for example provide be spaced apart and- The center-longitudinally extended relative to separated region is also possible to along two friction elements that linear separated region is prejudicially arranged It is advantageous.By increasing the quantity of friction element, higher driving force can be realized.About this point, friction element is advantageously Including such as aluminium oxide (Al₂O₃) or silicon nitride (Si₃N₄) etc it is hard ceramics or hard metal alloy or such as tungsten carbide it The material of the carbide of class, and be preferably made of one of these materials.

In both cases, that is, when using when friction element or using two (or multiple) friction elements, friction element Can be, for example, it is spherical and be inserted into actuator it is corresponding from the through-hole that upper surface reaches lower surface, and can lead to Binder (such as epoxy resin) is crossed correspondingly to fix or be attached in through-holes.One or more friction elements it is such attached It connects and correspondingly provides significant advantage during manufacturing.Particularly, for automated manufacturing, spherical friction element can be easily It is inserted into through-hole, wherein in terms of size, friction element is designed to make its radius to be less than the radius of through-hole slightly.Pass through This mode, friction element is like " falling into " into through-hole, but the knot at the rear due to being usually just arranged in actuator Constitutive element part and fall with preventing friction element perforation, the structural detail is, for example, to mount actuators to motor therein Structural detail.Due to the height of actuator and the diameter of spherical friction element be all it is known, so friction element from actuating Device part outstanding is determined precisely.

The mode of another fixed friction element is the table that spherical part, preferably hemisphere portion are attached at actuator The surface is bonded on face and preferably by binder.

In the case where actuator has the shape of annular slab, it is correspondingly disposed in one or more friction elements linearly The end of separated region is advantageous.This relatively easy execution in terms of being arranged in manufacturing technology of friction element.

Actuator includes that piezoceramic material can be proved to be advantageous.Here, lead zirconate titanate (PZT) is particularly suitable for. Piezoceramic material usually has high (inverse) piezoelectric effect, that is, for given voltage, these materials show high expansion or Deformation.

Equally, it when actuator has multilayered structure and odd number layer, can prove to be advantageous, wherein on adjacent layer Respective electrode facing with each other orientation having the same.By multilayered structure, actuating can be activated with corresponding lower voltage Device.

In addition, can prove to be advantageous if the upper layer of actuator and/or underlying design are inactive layer.This band Carry out the particularly reliable design of actuator, wherein it is integrated in corresponding motor to promote actuator again due to insulation.

In addition, can prove to be advantageous if the upper layer of actuator and/or lower layer are equipped with terminal electrode.This makes The electrical contact of actuator can be easily performed.

It can be actuator operation while motivating the second longitudinal direction resonant frequency of the second resonant frequency or integral multiple It is advantageous.This causes actuator correspondingly to vibrate or deform, and the vibration or deformation can be particularly effectively to drive will quilt The element of driving.

It in addition, passing through the electrode of electric actuation upper surface, can be realized the actuator vibration deformation along first axial direction It can be advantageous, which can be used in driving the moving element with actuator contact along first axial direction.Equally, By the electrode of electric actuation lower surface, the actuator vibration deformation along the second axial direction is made to can be realized and can be advantageous, The vibration deformation can be used in driving the moving element with actuator contact along the second axial direction.In this way, it activates Self-movement of the device on two axially different directions for being preferably perpendicular to each other setting is possible or actuator can be used to Driving and its CONTACT WITH FRICTION on two axially different directions want driven moving element.

In addition, out-phase (dephased) electric actuation of the electrode by the electrode and lower surface of upper surface, makes actuator The deformation of sound of flapping round can be realized and can be advantageous, what this deformation can be used in rotation driving and actuator contact can Dynamic element.For example, the electrode on sine voltage signal actuating upper surface can be used, while under synchronously being made with cosinusoidal voltage signal The electrode charge on surface.Therefore the deformation superposition on two axially different directions is generated, correspondingly with circle or is exhaled wherein deforming Circle mode correspondingly spreads or propagates.Friction element, such as the friction element at the center of actuator is set, therefore executes Quasi- circular motion, which can be transmitted to by CONTACT WITH FRICTION wants already driven elements.

In addition, making actuator that stick slip (stick-slip) driving be presented can be advantageous.Stick slip driving (or inertia Driving) include: relatively slow adhesion phase, wherein actuator and want the static friction between already driven elements occupy it is leading simultaneously And the static friction leads to practical driving；With sliding phase, there is the actuator realized by rapid desufflation torque and to be driven Dynamic friction between dynamic element.Here, stick slip driving or slowly travel forward with snap back movement accordingly by The electric actuation appropriate for attaching to the electrode of actuator is realized.This can be suitable for both linear movement and rotary motion.Adhesion Sliding driving is designed to comparatively simple and therefore easy to accomplish and installation.

In addition, be advantageous the deformation realized by the electric actuation of electrode can in the plane of actuator.This for Actuator and want the frictional properties of CONTACT WITH FRICTION between already driven elements that there is particularly advantageous influence, and in this side Face, in particular to low abrasion.In addition, therefore the component motion (therefore the plane for exceeding actuator) in the third dimension causes and rubs The actuator in elliptic motion is for example arranged in compared to more stable performance in element.

Another preferred aspect of the utility model is related to a kind of motor comprising according to one in aforementioned expedients The moving element kind actuator and driven by the driver.

The advantageous development form of the utility model is derived from dependent claims or part thereof of combination.

Detailed description of the invention

In the schematic diagram for being not drawn on drafting:

Fig. 1 shows the square plate shape of actuator according to the present utility model.

Fig. 2 shows actuator according to the present utility model plate shapes in a ring.

Fig. 3 shows the electric actuation for realizing twin shaft linear movement of the actuator according to Fig. 1.

Fig. 4 shows the electric actuation for realizing twin shaft linear movement of actuator according to fig. 2.

Fig. 5 shows the electric actuation for realizing rotary motion of the actuator according to Fig. 1.

Fig. 6 shows the electric actuation for realizing rotary motion of actuator according to fig. 2.

Fig. 7 is shown during the electric actuation according to Fig. 5, the actuator according to Fig. 1 realized by finite element method Deformation.

Fig. 8 is shown during according to the electric actuation of Fig. 4 and Fig. 6, the actuating according to fig. 2 realized by finite element method The deformation of device.

It is in the square plate shape for being configured to multilayer that Fig. 9, which shows actuator according to the present utility model,.

It is in the square plate shape for being configured to multilayer that Figure 10, which shows another actuator according to the present utility model,.

It is in the annular plate shape for being configured to multilayer that Figure 11, which shows actuator according to the present utility model,.

Figure 12 shows the motor with the utility model actuator according to Fig. 1.

Figure 13 shows the side view and sectional view of the arrangement including actuator and mobile main body.

Figure 14 shows the side view and sectional view arranged as described above.

Specific embodiment

Fig. 1 schematically shows the square single layer plate shape of actuator 1 according to the present utility model.Top in Fig. 1 View show the perspective view of actuator seen from above, that is, the view seen when facing its upper surface 3, and lower section View shows the actuator seen from below, that is, the view seen when facing its lower surface 4.Two are disposed on upper surface 3 The electrode 6 and 7 of a general triangular, wherein the separated region 5 of essentially straight non-electrode (that is, without electrode) is located at two Between electrode 6,7, which extends to diagonally opposing corner from a turning of actuator.The essentially straight Disengagement zone Domain is similar to and forms line of symmetry, and electrode 6 and 7 is arranged in a mirror-image fashion about the line of symmetry.

Electrode 6,7 extends to the respective side surface of actuator and aligns.However, being equally also contemplated that electricity Best is not partially to extend to side surface, so that other than separated region 5, the corresponding region of upper surface 3 is also Non-electrode.Longitudinal direction about essentially straight separated region 5 extends, and in its center or central area is disposed with friction member Part 10.For this purpose, actuator 1 includes corresponding through-hole, spherical friction element 10 is correspondingly inserted into or is embedded into the through-hole.It rubs Element 10 is wiped to be attached in the through hole by binder (such as epoxy resin).The characterizing portion of spherical friction element 10 is from actuator Upper surface 3 be projected into outside the upper surface of actuator.Spherical friction element 10 equally can be just prominent from the lower surface of actuator 4 It is arrived outside the lower surface of actuator out.It additionally is able to expect friction element 10 with the offer of spherical segment shape, the planar side of the spherical segment It is preferred that the surface of actuator 1 is attached on the upper surface of actuator 13 or lower surface 4 by binder.

On the lower surface of actuator 14, for same arrangement there are two electrode 8,9, electrode 8,9 is substantially corresponding in shape at it Electrode 6,7 in upper surface 3, but be arranged to deviate about 90 ° with electrode 6,7.Here, similarly, electrode 8,9 is essentially The non-electrode separated region 5 of straight line is separated from each other.Here, the separated region of the separated region 5 of lower surface 4 and upper surface 3 is substantially It is vertically arranged.Electrode 8,9 extends to the respective side surface of actuator and aligns.However, being equally conceivable, electricity Best is not partially to extend to above-mentioned side surface, so that other than separated region 5, the corresponding region of lower surface 4 It is also non-electrode.

Piezoceramic material be correspondingly situated between upper surface 3 and lower surface 4 or electrode 6,7 and electrode 8,9 between.

Fig. 2 diagrammatically illustrates the single layer plate shape of actuator 1 according to the present utility model in a ring.Top in Fig. 2 View shows the perspective view of actuator seen from above, that is, the view seen when facing its upper surface 3, and the view of lower section Show the actuator seen from below, that is, the view seen when facing its lower surface 4.On upper surface 3 there are two arrangements Substantially semicircular electrode 6 and 7, wherein essentially straight non-electrode separated region 5 is located between two electrodes 6,7.Institute Straight line separated region 5 is stated similar to being interrupted by the recess portion 12 in the interior zone of annular actuator, to generate two Disengagement zone Domain part 13 and 14.These separated region parts 13 and 14 are arranged along the line at the center for extending through annular actuator.This Line is also the mirror symmetry of electrode 6 and 7.

Radial direction of the electrode 6,7 along the side surface of actuator extends and is aligned with the side surface of actuator.It can also Expect at the side surface with actuator at least partly separating electrode design.Longitudinal direction relative to separated region part 13,14 Extend, friction element 10 is arranged at each center of separated region part 13,14, wherein friction element 10 be it is spherical simultaneously It is embedded into actuator, so that only the spherical part of friction element is prominent (prominent from the upper surface of actuator 3) from actuator. Other than described two friction elements 10 being oppositely arranged, there is also other two friction element 10 ', the two friction elements 10 ' are equally positioned relative to each other, but relative to above-mentioned two friction elements 10 with basic 90 ° of offset arrangement. Friction element 10 ' is arranged in the region of electrode 6 and 7.

It is also contemplated that, friction element 10 is disposed to extend relative to the longitudinal direction of separated region part 13,14 in its end, excellent Selection of land is arranged at the radial inner end of separated region part.

On the lower surface of annular actuator 14, there are two electrode 8,9, electrode 8,9 corresponds to same arrangement in shape at it Electrode 6,7 in upper surface 3, but be arranged to deviate 90 ° with electrode 6,7.Here, similarly, electrode 8,9 is essentially straight Non-electrode separated region 5 be separated from each other, separated region 5 include two separated regions part 15,16.These separated region portions Points 15,16 arrange along the line at the center for extending through annular actuator, this line be also simultaneously electrode 8 and 9 in a mirror-image fashion The line of symmetry of arrangement.The line of symmetry along which when arranging of separated region part 15,16, with separated region part 13,14 cloth Line of symmetry along setting is with basic 90 ° of angle of intersection.

It is also contemplated that, friction element 10 ' is disposed to extend relative to the longitudinal direction of separated region part 15,16 in separated region The end of part 15,16, is preferably arranged at the radial inner end of separated region part.

Fig. 3 schematically shows the electric actuation for realizing twin shaft linear movement of the square actuator according to Fig. 1. The electrode 6,7 of upper surface 3 and the electrode 8,9 of lower surface 4 are activated independently of each other by electric actuation voltage.According to Fig. 3's The view of top realizes the actuating of electrode 6,7 using square wave, wherein with opposite pole-actuation electrode 6,7.Square wave is currently excellent Selection of land has 60 to 80 duty ratio.In the electric actuation of the electrode 6 and 7 described in front, periodically deformation is correspondingly generated Or vibration, or the linear separation region 5 for being basically perpendicular to upper surface 3 is vibrated, the vibration can be passed by friction element 10 It is delivered to and wants already driven elements, want already driven elements that can start to move accordingly as a result,.With it is similarly as described above, according to The actuating of the electrode 8,9 of the view of the lower section of Fig. 3 realizes that wherein electrode 8,9 is equally with opposite pole-actuation by square wave.This In, square wave preferably has 60 to 80 duty ratio.The electric actuation of electrode 8 and 9 accordingly result in periodically deformation or Vibration, or vibration are basically perpendicular to the linear separation region 5 of lower surface 4, wherein the vibrational energy enough passes through friction element 10 It is transmitted to and wants already driven elements, want already driven elements that can start to move accordingly as a result,.By in time each other Separated mode carries out electric actuation to the electrode 6,7 of upper surface 3 and the electrode 8,9 of lower surface 4, in two differences of actuator On axial direction it is corresponding deformation or vibration be it is possible, therefore, by actuator drive element corresponding twin shaft transport Dynamic is also possible.From the perspective of the time, the actuating of electrode 6,7 is realized first, then realizes the actuating of electrode 8,9, or Person realizes the actuating of electrode 8,9 first, then realizes the actuating of electrode 6,7.From the perspective of the time, this leads to edge first The vibration of axial direction, and once complete and to be soon followed by by the corresponding movement for the element that actuator moves along the The vibration of two axial directions, the vibration want already driven elements along the driving of the second axial direction.

Fig. 4 schematically shows the electric actuations for realizing twin shaft linear movement of annular actuator according to fig. 2.? This respect, the view of top shows the contact of the electrode 6,7 of upper surface 3 in Fig. 4, and the view of lower section shows lower surface 4 Electrode 8 and 9 contact.Due to being in electrical contact with the same way realization similar with the description to Fig. 3, currently no longer more in detail Carefully this is described.

Fig. 5 schematically shows the electric actuation for realizing rotary motion of the square actuator according to Fig. 1.At this Aspect, contact substantially with it is shown in Fig. 3 contact it is identical, wherein for (time-related) electric actuation, there are difference, That is: the electrode 6,7 of upper surface 3 is activated by sine voltage signal, and the electrode 8,9 of lower surface 4 passes through cosinusoidal voltage simultaneously Signal is activated.However, the voltage signal for activation electrodes 6,7 and electrode 8,9 be it is identical, they have 90 ° of phase Potential difference.Accordingly, there exist being adjusted about the limiting time of electrode 6,7 and the electric actuation of electrode 8,9, to generally cause to activate The deformation of the similar hula hoop movements of device.(friction element (being not shown in Fig. 5) is usually placed in this for the central area of actuator Place) currently execute basic circular motion.Therefore, be arranged in the central area of actuator friction element can by components set at It is driven with rotary motion.

Fig. 6 schematically shows the electric actuation for realizing rotary motion of annular actuator according to fig. 2.Due to causing It is dynamic substantially to be executed in a manner of identical with the actuator of Fig. 5, so being omitted here any further description.

Fig. 7 is shown during the electric actuation according to Fig. 5 in four views from top to bottom, passes through finite element method (FEM) deformation of the calculated square actuator according to Fig. 1.It is viewed from above or based on four views in Fig. 7, show Four different deformation states under different continuous periods are gone out.In this respect, the central point of actuator is substantially with circle Path is mobile, and deformation of the actuator in the region around center is rendered as hula hoop movements.In addition, Fig. 7 shows plate shape The turning of actuator executes corresponding relatively large deformation or vibration.Therefore, currently advantageously by actuator in its side Upper support in the mounted state, is preferably supported at the center, because the deformation at center is much smaller.Pass through this side Formula, the support to actuator are possible, the particularly efficient operations of this permission actuator.

Fig. 8 is shown in nine views during according to the electric actuation of Fig. 4 and Fig. 6, utilizes the calculated basis of FEM The deformation of the annular actuator of Fig. 2.Currently, the left side view reproduction of the first row is shown in the top view of Fig. 4 in Fig. 8 Electrical contact, for realizing on an axial direction it is corresponding deformation or vibration motion.It is calculated from showing using FEM Two different time points under actuator deformation view (centre of the first row and right side view in Fig. 8) in it can be seen that Actuator essentially performs the deformation along the direction of x-axis to shorten, therefore can make in frictional contact to want driven member Part starts to move accordingly.

Currently, the left side view of the second row is for realizing along the corresponding deformation of the second axial direction or vibration fortune in Fig. 8 Dynamic electrical contact, the electrical contact are shown in the lower view of Fig. 4.Calculated two differences of FEM are utilized from showing It can be seen that actuator is basic in the view (centre of the second row and right side view in Fig. 8) of actuator deformation under time point It is upper to execute the deformation along the direction of y-axis to shorten, therefore can make in frictional contact already driven elements to be wanted to start accordingly Movement.

Finally, in Fig. 8 the third line left side view reproduce be shown in FIG. 6 annular actuator for realizing rotation The dynamic electric actuation of transhipment.The centre of the third line and right side view, which are shown, in Fig. 8 utilizes calculated two different time points of FEM Under actuator deformation.

Fig. 9 shows the square plate shape of actuator according to the present utility model in two views, wherein actuator It is configured to multiple layers 11.Perspective view when left side view to the upper surface of actuator 1 or layer 11 in Fig. 9 to see correspondingly is shown Each layer 11 and the corresponding actuator 1 being made of layer 11, and right side view is under actuator 1 or layer 11 in Fig. 9 The corresponding actuator 1 that perspective view when surface is seen accordingly illustrates each layer 11 and is made of layer 11.Currently, actuator 1 is made of 5 individual layers 11, and each layer includes the integrally-built structure corresponding to actuator.Therefore, each layer exists It include two triangular-shaped electrodes 6,7,8 and 9 of mirror-image arrangement, the wherein electrode of lower surface 4 on its upper surface 3 and lower surface 4 8, it 9 is arranged to be substantially offset from 90 ° with the electrode 6,7 of upper surface 3.Adjacent layer 11 is correspondingly arranged with offsetting with one another 90 °.On Surface and 6,7,8 contact with 9 of electrode on lower surface, the lateral electrode 17 on side by being arranged in each layer 11 is come real It is existing.

Each layer 11 all has through-hole 18 at its regional center, so that composed actuator also has at its center Through-hole 18, preferably spherical friction element not shown here are inserted into the through-hole 18 and are preferably glued by binder Knot.

Figure 10 shows the additional embodiment of actuator according to the present utility model, square plate in two views Shape, wherein actuator is configured to multiple layers.Meanwhile in Figure 10 left side view to be seen to the lower surface 4 of actuator 11 or layer When perspective view accordingly illustrate the corresponding actuator 1 that each layer 11,11 ', 11 " and by layer 11,11 ', 11 " forms, Perspective view when right side view to the upper surface 3 of actuator or layer in Figure 10 to see accordingly illustrates each layer 11,11 ', 11 " And " the corresponding actuator 1 formed by layer 11,11 ', 11.Actuator 1 is formed by having 7 layers altogether, and corresponding outermost layer indicates Inactive layer 11 ', 11 ".Herein, inactive to mean these layers since corresponding (lacking) electric polarization is without tending to produce Any deformation.They do not generate any deformation actively (that is, due to electric excitation).Top in Figure 10 in left side view is inactive Layer 11 ' does not have electrode, and the inactive layer 11 in lower part in Figure 10 in left hand view " has on its lower surface 4 and is arranged to each other partially Four terminal electrodes 19 from 90 °.Be arranged and occuping inactive layer 11 ', 11 " between layer 11 side on 17 energy of electrode Corresponding electric actuation voltage is enough supplied by terminal electrode 19.Therefore, the electrical contact on the only one surface from actuator 1 It is possible, and is in electrical contact current particularly to particularly, this is advantageous particularly with automated manufacturing from lower surface 4. It is, of course, also possible to which terminal electrode 19 only is arranged to the inactive layer 11 ' in top.In addition, the inactive layer 11 ' in top and lower part are inactive Layer 11 " can be equipped with terminal electrode.

Be arranged in inactive layer 11 ', 11 " between layer 11 on surface 3 and lower surface 4 include on it respectively mirror-image arrangement Two triangular-shaped electrodes 6,7,8 and 9, wherein the electrode 6,7 of upper surface 3 be arranged to and the electrode 8,9 of lower surface 4 deviate 90°.All layers 11,11 ', 11 ' all have corresponding through-hole 18 or throughbore 18 at its center, so that composed cause Dynamic device 1 has through-hole 18 in the corresponding way, such as spherical friction element is inserted into the through-hole 18.Right side in Figure 10 View (being not drawn on scale) shows the spherical friction element being inserted into through-hole 18, and through-hole 18 extends under actuator 1 Surface 4 simultaneously aligns.

Figure 11 shows actuator according to the present utility model plate shape in a ring in two views, wherein actuator quilt It is configured to multiple layers 11,11 ', 11 ".Meanwhile in Figure 10 left side view with to layer 11,11 ', 11 " or the upper surface of actuator 11 3 perspective view when seeing accordingly illustrates the corresponding actuating that each layer 11,11 ', 11 " and by layer 11,11 ', 11 " forms Device 1, right side view is with to layer 11,11 ', 11 in Figure 10 " or perspective view of the lower surface 4 of actuator when seeing accordingly illustrates The corresponding actuator 1 that each layer 11,11 ', 11 " and by layer 11,11 ', 11 " forms.Actuator 1 includes 7 layers altogether, In this 7 layers, uppermost layer and nethermost layer are inactive layer 11 ', 11 ".It is arranged in inactive layer 11 ', 11 " they Between 5 layers respectively there are two substantially semicircular electrodes 6,7 for tool on surface 3 on it, the two electrodes 6,7 are by separated region Part 13,14 is separated from each other.Be set to inactive layer 11 ', 11 " between layer 11 lower surface 4 on also have by Disengagement zone The substantially semicircular electrode 8,9 in two separated from each other of domain part 15,16, electrode 8,9 be arranged to deviate upper surface 3 electrode 6, 7 about 90 °.The corresponding comparative electrode of adjacent layer 11 all has identical orientation.

There are four terminal electrodes 19, each terminal electrode 19 to all have base for tool on surface 3 on it for the inactive layer 11 ' in top The shape of this quadrant, and in this four terminal electrodes 19, two adjacent electrodes respectively by insulated part 20 that This is separated or insulation." there is no electrode however, the inactive layer 11 in lower part.The side for the layer being arranged between inactive layer is set On electrode (at two of Figure 11 depending on being not shown in the figure) corresponding actuation voltage can be supplied to by terminal electrode.Therefore, The electrical contact of only side from actuator is possible, and be in electrical contact it is current particularly to from upper surface, particularly, this Automated manufacturing is advantageous." the setting terminal electrode 19 it is, of course, also possible to only to the inactive layer in lower part 11.Also can think To in the inactive layer in top 11 ' and the inactive layer 11 in lower part " on terminal electrode is all set.

Figure 12 shows the motor 21 with the utility model actuator according to Fig. 1 in two views.Motor 21 is Rotation motor, wherein according to the actuator 1 of the view in Fig. 5 by electric actuation, so that the friction element 10 at its centrally disposed place Execute circular motion.The circular motion is passed to rotor 22, friction element 10 and 22 CONTACT WITH FRICTION of rotor.In such case Under, actuator 1 is used as stator, and to be rotor 22 by the mobile element of friction element 10.

Figure 13 is shown at two views including actuator 1 and mobile main body 23 (it has spherical surface 24 in bottom end) Arrangement side view and sectional view.Compared with preceding embodiment, actuator 1 has octagonal shape piezoelectric board.With annular The friction element 10 of the hollow cylindrical of flange is arranged in the upper and lower surfaces of actuator, wherein each friction element 10 Central axis be aligned with the central axis of actuator 1.According to previous description, actuator 1 is configured to that friction element 10 is made to exist Mobile separately or combined in ground in both direction, they are parallel to actuator plane and perpendicular to one another.In this embodiment, if The friction element 10 set on the upper surface of actuator is contacted with the spherical surface 24 of mobile main body 23, so that actuator 1 Driving force is tangentially transferred to the spherical surface 24 of mobile main body 23 from friction element 10.Specifically, driving force can two sides To being transferred to spherical surface, they are tangential to spherical surface and perpendicular to one another.In addition, the cylindrical part of mobile main body 23 25 (it is located at 24 top of spherical surface) were supported in autoregistration ball bearing 27.

According to arrangement as described above, the mobile main body 23 driven by actuator 1 can be rotated around three axis, wherein All axis difference are perpendicular to one another.The rotation center of mobile main body 23 corresponds to the center of spherical surface 24.In addition, mobile main body 23 rotation center is aligned in any rotation position of mobile main body 23 (in the cause of actuator with the central axis of friction element 10 The micro-displacement of the central axis of friction element is ignored during dynamic).

In addition, in this embodiment, the feature of the transition from the spherical surface 24 of movement main body 23 to cylindrical part 25 It is the anticlimax of diameter.It is provided as a result, in the annular stop part 26 of the top end of spherical surface 24, it is outer by contact Portion's bearer ring 28 and limit mobile main body 23 surround two axis rotation, especially relative to the central axis of friction element 10 The inclination angle of the central axis of the mobile main body 23 of line.

Furthermore, it is preferred that friction element 10 is cylindrical sleeve or eyelet.Since sleeve or eyelet include along central shaft The recess portion 29 of line, so the contact portion 30 (it is contacted with the spherical surface 24 of mobile main body 23) of friction element has annular Shape.Therefore, the spherical surface 24 of mobile main body 23 can sink in recess portion 29 and driving force via friction element 10 ring Shape contact portion 30 is transmitted.

Figure 14 shows the side view and sectional view arranged as described above at two views, wherein moving main body 23 from its Resting position is mobile.In the case where driving force release, mobile main body 23 is held in place by friction element 10.This Outside, in the case where being released with the contact of friction element 10, mobile main body 23 is supported for that it is automatically returned to Original state, wherein original state is characterized in that the central axis alignment of actuator 1 and mobile main body 23.

Arrangement as described above can be realized mobile the multivariant of main body 23 and move freely.For example, this arrangement energy Enough it is applied to Optical devices.Particularly, mobile main body 23 can form a part of optical instrument.

Claims (20)

1. a kind of device including actuator and mobile main body, comprising:

The actuator and the mobile main body, in which:

The actuator is single-layer or multi-layer flat type, wherein at least one layer tool there are two electrode, described two electrodes are logical Straight line separated region is crossed to be separated from each other and be positioned relative to each other in the upper and lower surfaces of at least one described layer, And the electrode arrangement of the upper surface is at the electrode for deviating from the lower surface,

The actuator includes at least one friction element, and the friction element is arranged along the straight line separated region,

The mobile main body has at least part of spherical surface, and

The friction element is configured to tangentially for driving force to be transferred to the spherical surface of the mobile main body.

2. the apparatus according to claim 1, in which:

The friction element has circular contact portion, the spherical surface of the circular contact portion and the mobile main body Contact.

3. device according to any one of the preceding claims, in which:

The friction element is the element of hollow cylindrical, including the flange with increased diameter and the upper surface with the layer Or following table face contact.

4. the apparatus according to claim 1, in which:

The driving force is generated by actuator described in electric actuation, and the actuator is configured to that the friction element is made to exist Mobile separately or combined in ground in both direction, they are parallel to actuator plane and perpendicular to one another.

5. the apparatus according to claim 1, in which:

The friction element is configured so that the driving force is transferred to the spherical surface in two directions, they are tangential In the spherical surface and vertically.

6. the apparatus according to claim 1, in which:

The actuator is configured so that the friction element moves on the circular path for being parallel to actuator plane.

7. the apparatus according to claim 1, in which:

The friction element is along independent line and the spherical surface contact for moving main body.

8. the apparatus according to claim 1, in which:

The mobile main body is supported for can be around three different axis rotations, and the axis difference is perpendicular to one another.

9. the apparatus according to claim 1, in which:

The mobile main body has stop part part, and the stop part part limits the rotation that the mobile main body surrounds two axis Turn.

10. device according to claim 9, in which:

The inclination angle of the central axis of the mobile main body of central axis relative to the friction element is by the stop part portion Divide limitation.

11. the apparatus according to claim 1, in which:

The friction element is made of ceramic materials.

12. the apparatus according to claim 1, in which:

The mobile main body forms a part of optical instrument.

13. the apparatus according to claim 1, in which:

The mobile main body is by autoregistration bearing support.

14. the apparatus according to claim 1, in which:

When being released with the contact of the friction element, the mobile main body is supported for that it is automatically returned to just Beginning state, wherein the central axis of the actuator described in the original state and the alignment of the central axis of the mobile main body.

15. the apparatus according to claim 1, in which:

In driving force release, the mobile main body is held in place by the friction element.

16. the apparatus according to claim 1, in which:

At least under the non-operating state of the actuator, the rotation center of the mobile main body corresponds to the spherical surface It center and/or is aligned with the central axis of the friction element.

17. the apparatus according to claim 1, in which:

The central axis of the friction element is aligned with the central axis of the actuator.

18. the apparatus according to claim 1, in which:

The actuator has piezoelectric material.

19. the apparatus according to claim 1, in which:

The friction element is arranged along the straight line separated region and is arranged at the center of the straight line separated region or one At end.

20. device according to claim 3, in which:

The friction element is sleeve.