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41. 发明授权

US10985674B2 Ultrasonic motor and drive device 有权
公开(公告)号：US10985674B2
公开(公告)日：2021-04-20
申请号：US15752388
申请日：2016-07-28
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Bernd Philips , Mathias Rosenkranz , Dieter Wienecke , Kurt Sinske
IPC分类号： H02N2/00
摘要： The invention relates to an ultrasonic motor comprising a plate-shaped piezoelectric ultrasonic actuator (2) and a of friction element (5) arranged on a side surface thereof, wherein the connection line (V) through the friction point and the focal point (S) of the ultrasonic actuator defines an operating direction, and a perpendicular plane intersecting the ultrasonic actuator defines an operating plane (W). A holder (6) has two force inlet sections (7) in order to move the holder and thereby the ultrasonic actuator in a direction parallel to the operating direction, and to press same against an element to be driven. The force inlet sections, preferably based on permanent magnets (8, 9) are each arranged in the operating plane and laterally next to and at a distance from the the ultrasonic actuator, and the intersection point (SP) of the connection line (V) with the operating plane (W) either coincides with the focal point (S) or lies between the focal point and the side surface having the friction element.

42. 发明授权

US10312831B2 Method for controlling an ultrasound motor and corresponding control arrangement 有权
公开(公告)号：US10312831B2
公开(公告)日：2019-06-04
申请号：US15557642
申请日：2016-03-31
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Wladimir Wischnewskiy , Alexej Wischnewski
IPC分类号： H02N2/00 , H02N2/06 , H02N2/14 , B06B1/06
摘要： A method for controlling an ultrasonic motor. From a starting velocity or starting position of the driven element, the method includes adjusting the frequency of the electrical excitation voltage such that it is equal to or close to the mechanical resonance frequency of the ultrasonic actuator; changing the frequency of the electrical excitation voltage using the signal of the velocity sensor or the position sensor towards the anti-resonance frequency of the ultrasonic actuator until an end velocity or an end position of the driven element is reached; and controlling the end velocity or position of the driven element with a predetermined accuracy by means of antiphase frequency change. Also disclosed is a corresponding control arrangement for an ultrasonic motor having an ultrasonic actuator with at least two acoustic wave generators, a driven element and a generator via a frequency adjustment.

43. 发明授权

US10236797B2 Ultrasonic motor 有权
公开(公告)号：US10236797B2
公开(公告)日：2019-03-19
申请号：US15104349
申请日：2014-12-04
申请人： PHYSIK INSTRUMENTE (PI) GMBH & CO. KG
发明人： Wladimir Wischnewskiy , Alexej Wischnewski
IPC分类号： H02N2/02 , H02N2/00 , H01L41/083 , H01L41/09
摘要： The invention relates to an ultrasonic motor, comprising a piezoelectric ultrasonic actuator (1) having four friction elements (4) disposed thereon, a friction surface (6) which is in frictional contact with the friction elements, and an electrical excitation device (16), wherein the ultrasonic actuator is in the shape of a ring or hollow cylinder, having an inner circumferential surface (14), an outer circumferential surface (12) and two planar end surfaces (5) connecting the inner and the outer circumferential surfaces. The four friction elements are disposed on one of the end surfaces of the ultrasonic actuator so as to be spaced equidistantly with respect to the circumferential direction, such that in each case two of the friction elements lie diametrically opposite, and the ultrasonic actuator comprises twelve identical circumferential sections (10), each of which has a generator for an acoustic standing wave to be formed in the ultrasonic actuator and the deformations of the ultrasonic actuator caused by the standing wave lead to deflections of the friction elements on a movement path inclined with respect to the end surface and/or a movement path substantially perpendicular to the end surface. Each generator has at least one excitation electrode (11), at least one general electrode (13) or a section of a general electrode and a layer of piezoceramic (15) disposed between the excitation electrode and the general electrode or the section of the general electrode.

44. 发明申请

US20190074778A1 PIEZOELECTRIC DRIVE 审中-公开
公开(公告)号：US20190074778A1
公开(公告)日：2019-03-07
申请号：US16084551
申请日：2017-03-15
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Harry MARTH , Dominik BOCSKAI
IPC分类号： H02N2/06 , H02N2/02
摘要： A piezoelectric stepper drive includes a piezoelectric drive apparatus with at least two drive sections, each acted upon by at least two piezoelectric actuators, and a driven member which is advanced by at least one of the drive sections when control voltages are applied to the actuators. The drive apparatus is configured approximately in the shape of a triangle, at the tip of which the drive sections are arranged. At least one of the drive sections is biased against the driven member, in the absence of control voltages applied to the actuators, such that the drive section blocks advance of the driven member, where each of the drive sections is mounted individually resilient relative to a base of the triangle.

45. 发明申请

US20190068083A1 METHOD AND DEVICE FOR ACTUATING AN ELECTROMECHANICAL ELEMENT 审中-公开
公开(公告)号：US20190068083A1
公开(公告)日：2019-02-28
申请号：US16077259
申请日：2017-02-10
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Jeremias REITH
IPC分类号： H02N2/06 , H02N2/02
摘要： The invention relates to an actuating method for an electromechanical element for positioning an element that is to be driven and that is at least temporarily in contact with the electromechanical element, wherein, in a step mode, electrical voltage pulses are applied to the electromechanical element and each voltage pulse has at least two temporal sections, wherein, in one of the temporal sections, a temporal change of the electrical voltage occurs that is slower on average and, in the other temporal section, a temporal change of the electrical voltage occurs that is faster on average, and, at least in one part of the temporal section of the temporal change of the electrical voltage that is slower on average, which part defines a drive time section, by means of static friction between the electromechanical element, expanding or contracting in the drive direction, and the element to be driven, the latter is moved along by the electromechanical element, and at least in one part of the time section of the temporal change of the electrical voltage that is faster on average, which part defines a relative motion time section, a relative movement occurs between the electromechanical element and the element to be driven by sliding friction between the electromechanical element contracting or expanding opposite the drive direction, such that the element to be driven carries out a discrete step in the drive direction with each voltage pulse, and the method furthermore comprises the providing of a controller and of a driver electrically connected thereto. According to the invention, the controller transmits a temporally continuous current to the driver, and the driver outputs a corresponding charge current to the electromechanical element that is electrically connected thereto, wherein the controller continually adapts the temporally continuous current in dependence on the difference between the actual position and the target position of the element to be driven and the driver carries out an electrical separation of the driver from the controller, independently of the controller and in dependence on the voltage applied to the electromechanical element. The invention furthermore relates to a corresponding device for carrying out the method according to the invention.

46. 发明申请

US20180183354A1 METHOD FOR CONTROLLING AN ULTRASOUND MOTOR AND CORRESPONDING CONTROL ARRANGEMENT 审中-公开
公开(公告)号：US20180183354A1
公开(公告)日：2018-06-28
申请号：US15557642
申请日：2016-03-31
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Wladimir WISCHNEWSKIY , Alexej WISCHNEWSKI
IPC分类号： H02N2/00 , H02N2/06 , B06B1/06
CPC分类号： H02N2/008 , B06B1/0648 , H02N2/062 , H02N2/142
摘要： A method for controlling an ultrasonic motor. From a starting velocity or starting position of the driven element, the method includes adjusting the frequency of the electrical excitation voltage such that it is equal to or close to the mechanical resonance frequency of the ultrasonic actuator; changing the frequency of the electrical excitation voltage using the signal of the velocity sensor or the position sensor towards the anti-resonance frequency of the ultrasonic actuator until an end velocity or an end position of the driven element is reached; and controlling the end velocity or position of the driven element with a predetermined accuracy by means of antiphase frequency change. Also disclosed is a corresponding control arrangement for an ultrasonic motor having an ultrasonic actuator with at least two acoustic wave generators, a driven element and a generator via a frequency adjustment.

47. 发明申请

US20180115259A1 SERVOMOTOR 审中-公开
公开(公告)号：US20180115259A1
公开(公告)日：2018-04-26
申请号：US15557674
申请日：2016-04-25
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Harry MARTH , Wolfram STARK
IPC分类号： H02N2/04 , H02N2/02
CPC分类号： H02N2/04 , G05D13/00 , H02N2/026 , H02N2/12
摘要： Servomotor (1) comprising: —a base body (10), —an actuator body (20) which is arranged on the base body (10)—a drive arrangement (40) which is coupled to a drive section of the actuator body (20) and, when the drive arrangement (40) is activated, brings about a movement of the drive section of the actuator body (20) in one of two opposing circumferential directions on the basis of this coupling, —a rotational guide (50) with which the actuator body (20) is rotatably guided on the base body (10) and by which the movement of the drive section of the actuator body (20) is converted into a rotational movement of the actuator body (20), —a resetting arrangement (80) which couples the actuator body (20) and the base body (10) to one another and applies a resetting force between them, which resetting force opposes the actuating movement of the actuator body (20), —a magnet-compensation device (90) which reduces or cancels out the resetting force applied by the resetting device (80).

48. 发明授权

US09312790B2 Compact versatile stick-slip piezoelectric motor 有权
标题翻译：紧凑型多功能粘滑压电电机
公开(公告)号：US09312790B2
公开(公告)日：2016-04-12
申请号：US14026666
申请日：2013-09-13
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： William Culpi
IPC分类号： H01L41/09 , H02N2/00 , G05B19/40 , H02N2/10 , H02N2/02
CPC分类号： H02N2/006 , G05B19/40 , G05B2219/41344 , H02N2/025 , H02N2/101
摘要： A motion control system that includes a base, a stage supported by the base and movable with respect to the base, and a motor coupled to the base and operable to move the stage. The motor includes a mounting base arranged to connect the motor to the base, a friction pad engageable with the stage, and a coupling portion including a first end connected to the mounting base and a second end. The friction pad is connected to the coupling portion between the first end and the second end. A piezoelectric element is disposed between the mounting base and the second end and is operable in response to an electrical signal to move the friction pad and the stage. A mounting screw is accessible from an exterior of the base and engages the coupling portion. The mounting screw is the sole attachment mechanism between the motor and the base.
摘要翻译：一种运动控制系统，包括基座，由基座支撑并可相对于基座移动的台架，以及联接到基座并可操作以移动台架的马达。电动机包括安装基座，其被布置成将马达连接到基座，可与平台接合的摩擦垫，以及耦合部分，其包括连接到安装基座的第一端和第二端。摩擦垫连接到第一端和第二端之间的连接部分。压电元件设置在安装基座和第二端之间，并且响应于电信号而可操作以移动摩擦垫和台架。安装螺钉可从基座的外部接近并与联接部分接合。安装螺钉是电机和底座之间的唯一安装机构。

49. 发明授权

US11716035B2 Electromechanical linear drive with transmission element 有权
公开(公告)号：US11716035B2
公开(公告)日：2023-08-01
申请号：US17425518
申请日：2020-01-27
申请人： Physik Instrumente (PI) GmbH & Co. KG
发明人： Reinhard Hübner , Dominik Bocskai
IPC分类号： H02N2/02 , H02N2/04
CPC分类号： H02N2/025 , H02N2/04
摘要： The present disclosure relates to an electromechanical linear drive having a housing, an electromechanical drive unit, a transmission element which is coupled to the electro-mechanical drive unit, and an element to be driven which is in frictional contact with the transmission element, where the transmission element is mounted on at least two bearing points with respect to the housing. Improved accessibility to the element to be driven and a longer adjustment path of the element to be driven can be achieved by placing the element to be driven in frictional contact with the transmission element at a point of engagement outside of all bearing points.

50. 发明申请

US20230064477A1 COMPACT 6-AXIS POSITIONING SYSTEM 有权
公开(公告)号：US20230064477A1
公开(公告)日：2023-03-02
申请号：US17800310
申请日：2021-02-24
申请人： PHYSIK INSTRUMENTE (PI) GMBH & CO. KG
发明人： Christian SANDER , Rainer GLOESS , Christian RUDOLF
IPC分类号： B25J17/02 , B23Q1/54
摘要： A 6-axis positioning system includes a base, a movable unit and six variable-length actuators. One end of each actuator is connected to the base, and the other end of each actuator is connected to the movable unit. The six actuators are divided into two groups each having three actuators. The actuators of the first group are arranged on the base within a region bounded by the actuators of the second group, and the actuators of the first group are arranged on the movable unit within a region bounded by the actuators of the second group. The lower end and the upper end of each of the three actuators of the second group are connected to the base and to the movable unit, respectively, by means of respective pivot fastening systems. The upper end of each of the three actuators of the first group is connected to the movable unit by means of a pivot fastening system. The lower end of each of the three actuators of the first group is connected to the base by means of a pivot fastening system that can be pivoted during adjustment operation of the 6-axis positioning system.

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