EP3583693A1 - Rotations-piezomotor mit schwinggehäuse - Google Patents
Rotations-piezomotor mit schwinggehäuseInfo
- Publication number
- EP3583693A1 EP3583693A1 EP18708054.4A EP18708054A EP3583693A1 EP 3583693 A1 EP3583693 A1 EP 3583693A1 EP 18708054 A EP18708054 A EP 18708054A EP 3583693 A1 EP3583693 A1 EP 3583693A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rotor
- housing
- stator
- piezomotor
- toothing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 claims description 42
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 description 8
- 239000000919 ceramic Substances 0.000 description 6
- 239000007787 solid Substances 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- IUSARDYWEPUTPN-OZBXUNDUSA-N (2r)-n-[(2s,3r)-4-[[(4s)-6-(2,2-dimethylpropyl)spiro[3,4-dihydropyrano[2,3-b]pyridine-2,1'-cyclobutane]-4-yl]amino]-3-hydroxy-1-[3-(1,3-thiazol-2-yl)phenyl]butan-2-yl]-2-methoxypropanamide Chemical compound C([C@H](NC(=O)[C@@H](C)OC)[C@H](O)CN[C@@H]1C2=CC(CC(C)(C)C)=CN=C2OC2(CCC2)C1)C(C=1)=CC=CC=1C1=NC=CS1 IUSARDYWEPUTPN-OZBXUNDUSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 229940125807 compound 37 Drugs 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/101—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using intermittent driving, e.g. step motors
-
- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/009—Thermal details, e.g. cooling means
-
- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
- H02N2/123—Mechanical transmission means, e.g. for gearing
-
- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/145—Large signal circuits, e.g. final stages
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/50—Piezoelectric or electrostrictive devices having a stacked or multilayer structure
- H10N30/503—Piezoelectric or electrostrictive devices having a stacked or multilayer structure having a non-rectangular cross-section in a plane orthogonal to the stacking direction, e.g. polygonal or circular in top view
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/80—Constructional details
Definitions
- the invention relates to a piezoelectric motor with a stator, a rotor rotating about an axis of rotation and at least one piezoelement held by the stator and driving the rotor.
- a piezomotor is known from WO 2012/022443 AI.
- the piezoelectric element cooperates with a driving finger, which moves with its free end a pressure against an inner annular surface of the rotor driving jaw.
- the object of the invention is to increase the mechanical reliability and performance of the piezoelectric motor.
- the piezo element is arranged in a rocker housing, which oscillates with respect to the stator about a swing axis.
- the stator may be cup-shaped.
- the oscillating housing may also be cup-shaped and may be arranged pivotably on the stator about an axis parallel to the axis of rotation of the rotor.
- the oscillating housing has at least one disk-shaped cover surface.
- This disc-shaped top surface gives the oscillating housing a very high rigidity. This rigidity is required to safely transfer the motion generated by the piezo crystals to the rotor.
- the oscillating housing can oscillate about a pivot axis which is offset parallel to the axis of rotation of the rotor and radially thereto. As explained below, this arrangement results in very favorable lifting conditions in the transmission of the drive movement of the piezoelectric elements to the oscillating housing.
- the oscillating housing forms the force transmission element, which transmits the drive movement of the piezoelectric element to the rotor.
- a preferred power transmission mechanism is addressed, with which the movement of the vibration housing is transmitted to the rotor.
- the piezo element may in practice be a stack actuator.
- a stack actuator may consist of a plurality of piezoceramic layers in successive packages, a heat conduction plate being arranged in each case between two packages. The heat conducting plates can lead to the stator and effectively dissipate the heat generated in the piezoceramics.
- a stacking actuator consist of stacked piezoceramic layers which each have an electrode on both sides and are separated from one another by insulating layers, the piezoceramic layers, electrodes and insulating layers having openings which are penetrated by heat sinks.
- Heat sinks which protrude into the plate-shaped piezoceramic layers are particularly effective in dissipating heat generated in the interior of the piezoceramic layers.
- the heat sinks can be arranged on the above-mentioned heat conduction plates and dissipate the heat from the interior of the stack actuators.
- the heat conducting plates can form radially extending spring arms, which are fastened to an inner ring.
- the inner ring can surround the axis of rotation of the rotor.
- circumferentially stretchable half-rings may be formed by stack actuators which are effectively held in position over the radially extending heat conducting plates and dissipate the heat inwardly toward the axis of the rotor and the stator.
- the heat-conducting plates may have a cross-section which extends wedge-shaped from the inside to the outside in the area of contact with the piezoceramic layers.
- This wedge-shaped cross-section makes it possible to arrange packets of piezoceramic layers with substantially parallel surfaces along a ring or half-ring in order thus to produce a torsional vibration.
- thermal grease may fill the space between the openings and the heat sinks. Thermally conductive pastes are widely used in semiconductor technology to make a good one
- the piezoceramic layers of the stack actuator may be connected to a voltage source which applies a time-delayed electrical voltage to the individual piezoceramic layers of the stack actuator.
- each package between two heat conducting plates can consist of ten piezoceramic layers. These can be connected individually to the voltage source and be successively supplied with voltage. This has the advantage that not all of the ceramic layers of a stack actuator are subjected simultaneously to voltage and experience a large extent with a very large force.
- the voltage source can generate voltage pulses with a frequency of 500 kHz, which is far above the resonance frequency of the vibration housing.
- the frequency of the voltage pulses is approximately at ten times the resonance frequency. It is therefore readily possible to generate vibrations in the resonance range, which are caused by successively pulsed driving of the individual ceramic layers.
- the force transmission element can transmit the movement via a drive system to the rotor, which consists of at least one driving claw and a toothing, in which the driving claw engages.
- a claw drive for the rotor can transmit much higher torques, since a positive connection between the power transmission element and the rotor is formed.
- the driving claws are fastened to the oscillating housing while the toothing is located on the rotor.
- the Mitauerkrallen be attached to the oscillating housing and the toothing is on the rotor.
- the driving claw may be resilient and the teeth consist of saw teeth, which have an oblique flank and a retaining flank extending substantially in the radial direction of the rotor.
- the Mit supportivekralle has a corresponding shape with a drive edge, which rests against the retaining edge of the saw teeth during engagement. As a result, a large transmission force and thus a large torque acting on the rotor is ensured.
- the driving claw whose inclined edge slides over the corresponding oblique edge of the toothing until the retaining flank of the toothing is engaged behind again.
- a plurality of driver claws can be arranged offset from one another in the circumferential direction of the rotor. Piezo elements produce only very small movements.
- the oscillating housing thus leads despite the favorable leverage, which amplifies the oscillation amplitude, only movements in the order of 50 ⁇ . These movements may be too small to be effective
- the drive system may have two different toothings, wherein the surface normal of the retaining flank of the first toothing has a first circumferential direction of the rotor and the surface normal of the retaining flank of the second toothing points in an oppositely directed second circumferential direction of the rotor.
- This design makes it possible to provide a drive by the claws in both directions of rotation of the rotor.
- the drive system may comprise releasers, with which the driver claws can be disengaged from the toothing.
- the clutches selectively disengage the claws that cooperate with the first teeth that drive the rotor in the first direction of rotation, while the claws that drive the rotor in the second direction of rotation engage the corresponding teeth.
- both claws are disengaged, the rotor can rotate freely about the rotor axis.
- both claws are engaged, the rotor is fixed non-rotatably on the stator.
- a drive disk rotatable about the rotor axis can be arranged on both sides of the oscillating housing on which at least one driving claw is fastened.
- a plurality of circumferentially offset Mit supportivekrallen are arranged on the drive pulley.
- the driving claws of the first driving disc can rotate the rotor in the first rotational direction and the driving claws of the second driving disc rotate the rotor in the second, opposite rotational direction. Accordingly, in the areas in which the driving claws are located, the rotor is provided on one side with the toothing, in which the surface normal of the retaining flanks points in the first circumferential direction. In the region of the second drive disk, the surface normals of the holding flanks of the toothing of the rotor in the second circumferential direction.
- a backstop may be connected to the rotor to prevent the rotor from turning back. The direction of rotation of the backstop must be changeable if the drive direction of the rotor is changed by means of the release button.
- the piezomotor has an arrangement which eliminates the play of the piezo element supported on the stator and on the oscillating housing. In this way, it is ensured that the entire force and the entire path of the elongation of the piezoelectric element is transmitted to the oscillating housing.
- the arrangement may be an eccentric which is rotatably mounted in a mounting block of the stator and whose eccentric peripheral surface bears against a pressure element at the end of a stack actuator.
- each arranged in the piezomotor stack actuator on a separate device for eliminating the game, which is individually adjustable. Practical embodiments of the piezoelectric motor will be described below with reference to the accompanying drawings.
- FIG. 1 shows a three-dimensional view of a stator housing of a piezo motor described here.
- Fig. 2 shows the stator housing with inserted oscillating housing and therein piezoelectric actuators.
- Fig. 3 shows an inner ring disposed thereon with radial heat conducting plates for forming two semi-annular stack actuators.
- 4 shows a schematic exploded view of a package of piezoceramic plates between two heat conducting plates.
- Fig. 5 shows schematically the timing of the application of the package of FIG. 4 with voltage.
- FIG. 6 shows a front view of the stator housing with a vibration housing.
- FIG. 7 shows a sectional view along the section line BB from FIG. 6.
- FIG. 8 shows the stator housing with oscillating housing from FIGS. 6 and 7 in a three-dimensional view.
- FIG. 9 shows the stator housing and oscillating housing from FIG. 8 with drive disks rotatably mounted on the rotor axis.
- Fig. 10 shows the piezomotor with rotor and cover.
- the cover has for clarity windows, which need not be present in practice.
- FIG. 11 shows the enlarged detail G of FIG. 10.
- FIG. 12 shows a further enlarged representation of the detail H from FIG. 11.
- FIG. 13 shows a representation, similar to FIG. 12, of a drive system for driving in the opposite direction of rotation of the rotor.
- Fig. 14 shows schematically a comparison of the shapes of the two arranged on the rotor internal gears.
- Fig. 15 shows an enlarged view of a portion of the stator housing with inserted vibration housing, in which the support of the stack actuators is better seen.
- Fig. 16 shows an enlarged view of the mounting block, against which a stack actuator is supported.
- stator 1 of the piezoelectric motor can be seen, more precisely, the stator 1.
- the stator housing 1 is substantially designed topfpfig, it has a cylindrical peripheral wall 2 and a nikommenformigen bottom 3.
- a bearing 4 for a pivot pin 15 of the oscillating housing 8 is arranged in the middle of the stator housing 1 in the middle of the stator housing 1 in the middle of the stator housing 1 in the middle of the stator housing 1 is the axis of rotation 5 of the rotor, hereinafter called rotor axis.
- FIG. 2 shows the stator housing 1 from FIG.
- the oscillating housing 8 has a pot shape with a peripheral wall 9 and a circular disk-shaped bottom 10.
- the bottom 10 of the oscillating housing 8 has a window 11, which is penetrated by the mounting blocks 6, 7.
- the mounting blocks 6, 7 serve to support the piezoelectric actuators 20, 21.
- the peripheral wall 9 of the oscillating housing 8 has internal thread 12 to
- FIG. 8 receives fastening screws 13 (see Figure 8), with which a circular disk-shaped cover 14 of the oscillating housing 8 is screwed tight. It can also be seen in FIG. 8 that the cover 14 has a pivot pin 15. A second pivot pin 15, which is aligned with the pivot pin 15 of the cover 14, is arranged on the bottom 10 of the oscillating housing 8 on the side remote from the piezoactuators 20, 21, as can be seen in FIG. The two pivot pins 15 together form the pivot bearing about the pivot axis 16 of the vibration housing. 8
- a force introduction block 17 is arranged on the side of the oscillating housing 8 approximately diametrically opposite the fastening blocks 6, 7.
- Force introduction block 17 is fixed to the bottom 10 of the oscillating housing 8 and serves to transmit power from the piezo actuators 20, 21, which are supported on the stator via the mounting blocks 6, 7.
- the stack actuators 20, 21 act on this force introduction block 17 via solid joints 18, 19.
- the pivot axis 16 is located approximately at the radially inward end of the force introduction block 17.
- the oscillating housing 8 therefore oscillates about this pivot axis 16.
- the bottom 10 and the cover 14 of the oscillating housing 8 have centrally openings 28, 29, which surround the rotor axis 5 with considerable radial play of more than 1 mm. These openings 28, 29 can be seen in FIG. This ensures that the rotor axis 5 does not hinder the free movement of the oscillating housing 8.
- Via the peripheral wall 9 of the oscillating housing 8 and further solid-state joints 22-24 the movement of the oscillating housing 8 is transmitted to a connection block 25 (see FIG. 2) with connection plates 26, 27 protruding from the oscillating housing 8.
- Each of the stack actuators 20, 21 has thirteen packages 30 consisting of stacked piezoceramic layers.
- the structure of each package 30 is shown schematically in FIG. 4 as an exploded view.
- Each package consists, for example, of five to ten piezoceramic layers 31.
- a first electrode 32 is arranged on the upper side of the piezoceramic layer 31.
- the surface of the first electrode 32 substantially corresponds to the surface of the piezoceramic layer 31.
- a second electrode 33 is arranged on the underside of the piezoceramic layer 31.
- Each of the electrodes 31, 32 is followed by an insulating layer 34, so that the piezoceramic layer 31 can be activated individually via the electrodes 32, 33.
- both the piezoceramic layers 31, as well as the electrodes 32, 33 and the insulating layers 34 have three openings 35 formed as elongated holes.
- the openings 35 are penetrated by heat sinks 36.
- thermal compound 37 is arranged, which produces a good heat-conducting connection between the openings 35 and the heat sinks 36.
- the heat sinks 36 are connected to a heat-conducting plate 38 at least via the heat-conducting paste 37, so that heat arising in the piezoceramic layers 31 can be dissipated via the heat-conducting paste 37, the heat sink 36 and the heat-conducting plate 38.
- the heat-conducting plates 38 are flat in the schematic representation of FIG. 4, so that stacking up several packages 30 would result in a straight stack actuator.
- the heat of the piezoceramic layers 31 is discharged via the heat conducting plates 38 'radially to the inner ring 40. Since the inner portions of the heat conducting plates 38 'form spring arms 39, they can be displaced in the circumferential direction. Consequently, they can deform sufficiently to permit expansion of the two stack actuators 20, 21 due to the application of electrical voltage to the piezoceramic layers 31. If all piezoceramic layers 31 of a stack actuator 20, 21 are simultaneously subjected to a voltage, a very high compressive force is produced. The size of the piezo stack actuator changes abruptly from the minimum to the maximum value. In order to soften the expansion of the stack actuators 20, 21, the individual piezoceramic layers 31 of each package 30 of the stack actuators 20, 21 are successively energized according to the scheme of FIG.
- FIG. 5 shows eleven temporally successive representations of the stacked ceramic layers of a package 30, in the present case a package with ten piezoceramic layers. If there is no voltage, the package has the smallest extension. This can be seen in the left package, which is marked with the number 0.
- the numeral 1 indicates a package at a later time, in which the first piezoceramic layer is applied with voltage. The other layers are tension-free. The entire package thus only deforms by the small amount with which the one ceramic layer of the package deforms.
- FIGS. 15 and 16 the elements by means of which the stack actuators 21, 20 are supported on the mounting blocks 6, 7 of the stator 1 are shown enlarged in FIGS. 15 and 16. It can be seen that at the ends of the stack actuators 21,20 pressure elements 62,63 are arranged, which consist for example of steel. These pressure elements 62, 63 are supported via an adjusting mechanism against the mounting blocks 6, 7 of the stator, which makes it possible to compensate for fluctuations and tolerances in the dimensions of the stack actuator 20 or 21 but also in the dimensions of the stator 1 or the oscillating housing 8 , In particular, in Fig. 16 it can be seen that the mounting blocks 6.7 each have a bore 68 into which an eccentric 64 is inserted. The bore 68 is closed off with a cover plate 65.
- the cover plate 65 has an opening 69, through which an adjustment slot 70 can be reached in the end face of the eccentric 64.
- the peripheral surface of the eccentric 64 which is eccentric to its storage in the mounting block 6 and 7, abuts against the pressure element 62 and 63, respectively. By turning the eccentric 64, any play between the pressure element 62 or 63 and the adjacent attachment block 6 or 7 can be compensated.
- the cover plate 65 clamps the eccentric 64 after setting the optimum position by the closure screws 66 are screwed. As mentioned, the cover plate 65 with the opening 69, which is screwed by the locking screws 66 on the mounting block 7, only in the right half of Fig.
- Fig. 9 is a perspective view of the stator housing with it attached a drive pulleys 43, 44 can be seen.
- the drive pulley 43 rests on the bottom 3 of the stator housing 1 rests.
- the drive pulley 43 has two recesses 45, 46, in which the connection plates 41, 42 are received in the circumferential direction without play.
- the connecting plates 41, 42 transmit the oscillatory movements of the oscillating housing 8 to the drive disk 43.
- the drive disk 44 is held rotatably about the rotor axis 5.
- the drive pulley 43 is in rotational vibrations with an amplitude of about 50 ⁇ about the rotor axis 5 around.
- Each drive block 47 has two adjacently arranged driving claws 48, 49.
- Each driver claw 48, 49 is fixed by a leaf spring 50 to the associated drive block 47.
- a second drive pulley 44 is disposed on the opposite side of the stator, which is also rotatably mounted on the rotor axis 5.
- driving claws 51, 52 are provided, which are fastened by leaf springs 50 to corresponding drive blocks 47.
- the second drive plate 44 is set in vibration via the connection plates 26, 27, which project through the cover 14 of the vibration housing 8.
- Fig. 10 shows the completed piezomotor in side view.
- a rotor 53 surrounds the arrangement consisting of stator housing 1, oscillating housing 8 and the two drive disks 43, 44 with the drive blocks 47.
- a cover 54 is arranged within the annular rotor 53.
- Cover 54 has windows 55 which are arranged in the region of the Mit supportivekrallen, of which only the outer Mit supportivekralle 48 can be seen in side view.
- the windows 55 serve to illustrate the function of the engine and can be omitted in the actual embodiment of the engine.
- Underneath the cover 54 are arranged around the rotor axis 5 rotatably releaser 56, which cooperate with the nearest driver claw 48 respectively. If the
- FIG. 11 An enlarged view of the driver claw 48 and the releaser 56 according to the detail G of FIG. 10 is shown in Fig. 11. It can be seen that each driver claw 48, 49 interacts with an internal toothing 57 of the rotor 53.
- the Mit supportivekrallen 48, 49 are slightly offset in the circumferential direction of the rotor 53 to each other, so that always one of the two Mit supportivekralle 48,49 engages behind a tooth of the internal teeth 57 of the rotor 53. Consequently, the length of the toothing be twice as long as the oscillation amplitude, so that in each case by half a movement along the toothing, a locking of the next driver claw 48, 49 is effected.
- FIG. 12 is enlarged once again in comparison with FIG. 11.
- Fig. 12 can also be seen that an extending in the opposite direction internal teeth 58 is provided.
- This internal toothing is offset in the axial direction of the rotor 53 to the internal toothing 57.
- the internal toothing 58 cooperates with two driving claws 59, 60.
- FIG. 13 it can be seen that the driver claws 59, 60 are pulled away from the internal toothing 58 by the disengager 61.
- the rotation in the direction indicated by the arrow in FIG. 12 is not hindered by the reverse oriented internal gear 58.
- FIG. 14 shows a comparison of the two toothings arranged on the rotor 53. It can be seen that each toothing consists of saw teeth, which have an oblique flank, along which the driving claws slide during a relative movement to the toothing, and which have a holding flank, which are engaged behind by the driving claws.
- the holding flanks of the two teeth point in opposite directions, so that their surface normals Ni and N 2 are directed in opposite circumferential directions of the rotor 53. In this way, the rotor can be driven depending on the activation of the releaser 56 or 61 in different directions of rotation.
- the rotor 53 may be held on the rotor axis 5 with a certain amount of friction or a permanently acting backstop.
- the backstop must also change its direction of rotation when the drive direction of the rotor 53 is changed by means of the release button 56, 61.
- stator housing 1 stator, stator housing
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017102884.6A DE102017102884A1 (de) | 2017-02-14 | 2017-02-14 | Piezomotor |
PCT/EP2018/053083 WO2018149714A1 (de) | 2017-02-14 | 2018-02-07 | Rotations-piezomotor mit schwinggehäuse |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3583693A1 true EP3583693A1 (de) | 2019-12-25 |
Family
ID=61526774
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18708054.4A Pending EP3583693A1 (de) | 2017-02-14 | 2018-02-07 | Rotations-piezomotor mit schwinggehäuse |
Country Status (5)
Country | Link |
---|---|
US (1) | US11431266B2 (de) |
EP (1) | EP3583693A1 (de) |
CN (1) | CN110291711A (de) |
DE (1) | DE102017102884A1 (de) |
WO (1) | WO2018149714A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112436755B (zh) * | 2020-11-11 | 2021-08-06 | 南京航空航天大学 | 基于静摩擦的旋转型压电传动装置及其工作方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5079471A (en) | 1990-06-04 | 1992-01-07 | Martin Marietta Corporation | High torque harmonic traction motor |
KR100341871B1 (ko) | 1993-09-08 | 2002-11-29 | 아스라브 쏘시에떼 아노님 | 회전자위치탐지기를갖는압전모터및그압전모터고정자제조방법 |
DE9419802U1 (de) | 1994-12-10 | 1996-04-04 | Richter Hans | Schrittmotor |
JPH10233537A (ja) | 1997-02-20 | 1998-09-02 | Toyota Motor Corp | 圧電積層体 |
DE102006062076A1 (de) * | 2006-12-29 | 2008-07-10 | Siemens Ag | Piezokeramischer Vielschichtaktor und Verfahren zu seiner Herstellung |
CN101499738A (zh) | 2008-01-31 | 2009-08-05 | 德昌电机股份有限公司 | 压电电机与使用该电机的驱动模块 |
KR20100064502A (ko) * | 2008-12-05 | 2010-06-15 | 주식회사 만도 | 압전 소자를 이용한 토크 센서 및 이를 구비한 전동식 조향장치 |
DE102010035045A1 (de) * | 2010-08-20 | 2012-02-23 | Aspre Ag | Piezomotor |
JP2012200050A (ja) | 2011-03-18 | 2012-10-18 | Nikon Corp | モータ装置及びロボット装置 |
US9312790B2 (en) | 2013-09-13 | 2016-04-12 | Physik Instrumente (Pi) Gmbh & Co. Kg | Compact versatile stick-slip piezoelectric motor |
-
2017
- 2017-02-14 DE DE102017102884.6A patent/DE102017102884A1/de not_active Withdrawn
-
2018
- 2018-02-07 WO PCT/EP2018/053083 patent/WO2018149714A1/de unknown
- 2018-02-07 CN CN201880011778.9A patent/CN110291711A/zh active Pending
- 2018-02-07 US US16/485,866 patent/US11431266B2/en active Active
- 2018-02-07 EP EP18708054.4A patent/EP3583693A1/de active Pending
Also Published As
Publication number | Publication date |
---|---|
DE102017102884A1 (de) | 2018-08-16 |
WO2018149714A1 (de) | 2018-08-23 |
CN110291711A (zh) | 2019-09-27 |
US20200059169A1 (en) | 2020-02-20 |
US11431266B2 (en) | 2022-08-30 |
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