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1. 发明授权

US08525387B2 Piezoelectric actuator, motor, robot hand, and robot 有权
标题翻译：压电执行器，电机，机器人手和机器人
公开(公告)号：US08525387B2
公开(公告)日：2013-09-03
申请号：US13431047
申请日：2012-03-27
申请人： Koichi Kamijo , Osamu Miyazawa , Akihiro Sawada , Reiko Nagahama
发明人： Koichi Kamijo , Osamu Miyazawa , Akihiro Sawada , Reiko Nagahama
IPC分类号： H01L41/08
CPC分类号： H02N2/001 , B25J15/0009 , H01L41/09 , H02N2/004 , H02N2/103 , H02N2/22 , Y10S901/38 , Y10T29/42
摘要： A motor includes a vibrating plate having a projection part to be pressed against a driven member and a piezoelectric material provided on the vibrating plate, wherein a Young's modulus EL in the pressing direction of the vibrating plate and a Young's modulus ES in a direction crossing the pressing direction are different.
摘要翻译：电动机包括振动板，该振动板具有压靠从动构件的突出部分和设置在振动板上的压电材料，其中振动板的按压方向上的杨氏模量EL和横过该振动板的方向的杨氏模量ES 按压方向不同。

2. 发明授权

US07514843B2 Piezoelectric actuator and device 有权
标题翻译：压电致动器和装置
公开(公告)号：US07514843B2
公开(公告)日：2009-04-07
申请号：US11175165
申请日：2005-07-07
申请人： Reiko Nagahama , Yutaka Yamazaki
发明人： Reiko Nagahama , Yutaka Yamazaki
IPC分类号： H01L41/04 , H02N2/00
CPC分类号： H01L41/0906 , G04C3/12
摘要： A generally diamond-shaped detection electrode is formed in the approximate center of the piezoelectric element. The strain resulting from the bending secondary vibration mode in the vicinity of the detection electrode is minimized because the detection electrode is formed in such a manner as to include a vibrational node of the longitudinal primary vibrational mode and a vibrational node of the bending secondary vibrational mode. As a result, when the phase difference between the drive signal and the detection signal is detected, the effect of vibration in the bending secondary vibration mode on the detected phase difference can be suppressed and a single drive frequency can be determined with respect to a prescribed phase difference. Thus, the drive performance of the vibrating body with respect to a driven body (i.e., a body driven by the vibrating body) can be reliably improved because, by controlling the drive frequency such that the phase difference equals a prescribed value, the vibrating body can be made to vibrate at a desired frequency and vibrate in such a manner that the desired vibration components are achieved in each vibration mode.
摘要翻译：大致菱形检测电极形成在压电元件的大致中心。由于检测电极以包括纵向主振动模式的振动节点和弯曲次级振动模式的振动节点的方式形成，所以由检测电极附近的弯曲二次振动模式产生的应变最小化。结果，当检测到驱动信号和检测信号之间的相位差时，可以抑制弯曲二次振动模式下的振动对检测到的相位差的影响，并且可以相对于规定的规定确定单个驱动频率相位差。因此，通过控制驱动频率使相位差等于规定值，能够可靠地提高振动体相对于被驱动体（即，被振动体驱动的身体）的驱动性能，振动体可以以期望的频率振动并以使得在每个振动模式下实现期望的振动分量的方式振动。

3. 发明授权

US07119476B2 Piezoelectric actuator and device 有权
标题翻译：压电致动器和装置
公开(公告)号：US07119476B2
公开(公告)日：2006-10-10
申请号：US11177328
申请日：2005-07-11
申请人： Reiko Nagahama
发明人： Reiko Nagahama
IPC分类号： H01L41/09 , H01L41/047 , H02N2/12
CPC分类号： H02N2/103 , G02B7/102 , G04C3/12 , H02N2/004 , H02N2/008 , H02N2/126
摘要： Detection electrodes 82D and 82E are formed at positions that include an antinode of a flexural oscillation mode. The strain of flexural oscillation reaches a maximum and the effects on the phase difference in the longitudinal oscillation mode can be cancelled out. The detection electrodes 82D and 82E are formed at the positions of drive electrodes 82B and 82C used to excite the flexural oscillation mode. A phase difference in the flexural oscillation mode opposite in sign relative to the longitudinal oscillation mode is created making it is easy to classify based on the phase difference between a frequency at which the longitudinal oscillation mode is dominant and a frequency at which the flexural oscillation mode is dominant. Thus, reliable control can be achieved based on the oscillation behaviors at each frequency ensuring a satisfactory drive force based on oscillation in the longitudinal oscillation mode.
摘要翻译：检测电极82D和82E形成在包括弯曲振荡模式的波腹的位置处。弯曲振动的应变达到最大值，并且可以抵消对纵向振荡模式的相位差的影响。检测电极82D和82E形成在用于激发弯曲振荡模式的驱动电极82B和82C的位置。产生与纵向振动模式相反的弯曲振动模式的相位差，使得根据纵向振动模式占优势的频率与弯曲振荡模式的频率之间的相位差易于分类是主导的因此，可以基于每个频率的振荡特性实现基于纵向振荡模式中的振荡的令人满意的驱动力的可靠控制。

4. 发明申请

US20060001331A1 Piezoelectric actuator and device 有权
公开(公告)号：US20060001331A1
公开(公告)日：2006-01-05
申请号：US11177328
申请日：2005-07-11
申请人： Reiko Nagahama
发明人： Reiko Nagahama
IPC分类号： H01L41/04
CPC分类号： H02N2/103 , G02B7/102 , G04C3/12 , H02N2/004 , H02N2/008 , H02N2/126
摘要： Detection electrodes 82D and 82E are formed at positions that include an antinode of a flexural oscillation mode. The strain of flexural oscillation reaches a maximum and the effects on the phase difference in the longitudinal oscillation mode can be cancelled out. The detection electrodes 82D and 82E are formed at the positions of drive electrodes 82B and 82C used to excite the flexural oscillation mode. A phase difference in the flexural oscillation mode opposite in sign relative to the longitudinal oscillation mode is created making it is easy to classify based on the phase difference between a frequency at which the longitudinal oscillation mode is dominant and a frequency at which the flexural oscillation mode is dominant. Thus, reliable control can be achieved based on the oscillation behaviors at each frequency ensuring a satisfactory drive force based on oscillation in the longitudinal oscillation mode.

5. 发明申请

US20060001330A1 Drive method for piezoelectric actuator, drive apparatus for piezoelectric actuator, electronic device, control program for drive apparatus for piezoelectric actuator, and recording medium 有权
标题翻译：用于压电致动器的驱动方法，压电致动器的驱动装置，电子装置，用于压电致动器的驱动装置的控制程序和记录介质
公开(公告)号：US20060001330A1
公开(公告)日：2006-01-05
申请号：US11171183
申请日：2005-07-01
申请人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
发明人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
IPC分类号： H01L41/04
CPC分类号： H02N2/004 , H02N2/103 , H02N2/142
摘要： A frequency of a drive signal supplied to a piezoelectric element is swept within a specific range, a detection signal indicating the vibrating state of a vibrating member is detected, and the sweep speed of the drive signal frequency supplied to the piezoelectric element is controlled based on this detection signal. Thus, even if nonuniformities occur in the drive frequency of the piezoelectric element due to fluctuations in the surrounding temperature or the load, such nonuniformities can be overcome without any adjustments, and the piezoelectric element can be reliably driven. Also, since the sweep speed of the drive signal frequency is at a high speed when the vibrating member is in a non-drive state, needless drive signal output time during which the piezoelectric element cannot be driven can be reduced, needless power consumption can be curtailed, and nonuniformities in the drive speed of the driven object can also be reduced.
摘要翻译：提供给压电元件的驱动信号的频率在特定范围内扫描，检测表示振动部件的振动状态的检测信号，并且基于以下方式控制提供给压电元件的驱动信号频率的扫描速度：该检测信号。因此，即使由于周围温度或负载的波动而在压电元件的驱动频率上发生不均匀性，也可以克服这种不均匀性而无需调整，可以可靠地驱动压电元件。此外，由于当振动部件处于非驱动状态时驱动信号频率的扫描速度处于高速度，所以可以减少压电元件不能驱动的不必要的驱动信号输出时间，不需要功率消耗削减驱动对象的驱动速度的不均匀性也可以减小。

6. 发明授权

US07348708B2 Drive method for piezoelectric actuator, drive apparatus for piezoelectric actuator, electronic device, control program for drive apparatus for piezoelectric actuator, and recording medium 有权
标题翻译：用于压电致动器的驱动方法，压电致动器的驱动装置，电子装置，用于压电致动器的驱动装置的控制程序和记录介质
公开(公告)号：US07348708B2
公开(公告)日：2008-03-25
申请号：US11178462
申请日：2005-07-12
申请人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
发明人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
IPC分类号： H01L41/09
CPC分类号： H02N2/004 , H02N2/103 , H02N2/142
摘要： The frequency of a drive signal supplied to a piezoelectric actuator 91 is swept within a specific range, the consumption current of the piezoelectric actuator 91 is determined, and when the consumption current is equal to or greater than a reference value, the frequency of the drive signal supplied to the piezoelectric actuator 91 is shifted proportionate to a specific frequency and returned to its initial value, and the frequency sweep is continued. The resonance frequency component can be removed when the frequency of the drive signal supplied to the piezoelectric element is swept. Consequently, the piezoelectric element can be driven outside of the resonance frequency range at which the consumption current is highest, allowing extreme increases in the consumption current to be prevented and system failures due to the flow of an excessive consumption current to be avoided.
摘要翻译：提供给压电致动器91的驱动信号的频率在特定范围内扫描，确定压电致动器91的消耗电流，并且当消耗电流等于或大于参考值时，驱动器的频率提供给压电致动器91的信号与特定频率成比例地移位并返回到其初始值，并且频率扫描继续。当提供给压电元件的驱动信号的频率被扫描时，可以去除共振频率分量。因此，可以将压电元件驱动到消耗电流最高的共振频率范围之外，从而能够防止消耗电流的极大增加，并避免由于过量消耗电流的流动导致的系统故障。

7. 发明申请

US20070188048A1 Piezoelectric actuator and device 有权
标题翻译：压电致动器和装置
公开(公告)号：US20070188048A1
公开(公告)日：2007-08-16
申请号：US11175165
申请日：2005-07-07
申请人： Reiko Nagahama , Yutaka Yamazaki
发明人： Reiko Nagahama , Yutaka Yamazaki
IPC分类号： H01L41/00
CPC分类号： H01L41/0906 , G04C3/12
摘要： A generally diamond-shaped detection electrode is formed in the approximate center of the piezoelectric element. The strain resulting from the bending secondary vibration mode in the vicinity of the detection electrode is minimized because the detection electrode is formed in such a manner as to include a vibrational node of the longitudinal primary vibrational mode and a vibrational node of the bending secondary vibrational mode. As a result when the phase difference between the drive signal and the detection signal is detected, the effect of vibration in the bending secondary vibration mode on the detected phase difference can be suppressed and a single drive frequency can be determined with respect to a prescribed phase difference. Thus, the drive performance of the vibrating body with respect to a driven body (i.e., a body driven by the vibrating body) can be reliably improved because, by controlling the drive frequency such that the phase difference equals a prescribed value, the vibrating body can be made to vibrate at a desired frequency and vibrate in such a manner that the desired vibration components are achieved in each vibration mode.
摘要翻译：大致菱形检测电极形成在压电元件的大致中心。由于检测电极以包括纵向主振动模式的振动节点和弯曲次级振动模式的振动节点的方式形成，所以由检测电极附近的弯曲二次振动模式产生的应变最小化。结果，当检测到驱动信号和检测信号之间的相位差时，可以抑制弯曲二次振动模式下的振动对检测的相位差的影响，并且可以相对于规定的相位来确定单个驱动频率区别。因此，通过控制驱动频率使相位差等于规定值，能够可靠地提高振动体相对于被驱动体（即，被振动体驱动的身体）的驱动性能，振动体可以以期望的频率振动并以使得在每个振动模式下实现期望的振动分量的方式振动。

8. 发明授权

US07247970B2 Drive method for piezoelectric actuator, drive apparatus for piezoelectric actuator, electronic device, control program for drive apparatus for piezoelectric actuator, and recording medium 有权
标题翻译：用于压电致动器的驱动方法，压电致动器的驱动装置，电子装置，用于压电致动器的驱动装置的控制程序和记录介质
公开(公告)号：US07247970B2
公开(公告)日：2007-07-24
申请号：US11171183
申请日：2005-07-01
申请人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
发明人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
IPC分类号： H01L41/08
CPC分类号： H02N2/004 , H02N2/103 , H02N2/142
摘要： A frequency of a drive signal supplied to a piezoelectric element is swept within a specific range, a detection signal indicating the vibrating state of a vibrating member is detected, and the sweep speed of the drive signal frequency supplied to the piezoelectric element is controlled based on this detection signal. Thus, even if nonuniformities occur in the drive frequency of the piezoelectric element due to fluctuations in the surrounding temperature or the load, such nonuniformities can be overcome without any adjustments, and the piezoelectric element can be reliably driven. Also, since the sweep speed of the drive signal frequency is at a high speed when the vibrating member is in a non-drive state, needless drive signal output time during which the piezoelectric element cannot be driven can be reduced, needless power consumption can be curtailed, and nonuniformities in the drive speed of the driven object can also be reduced.
摘要翻译：提供给压电元件的驱动信号的频率在特定范围内扫描，检测表示振动部件的振动状态的检测信号，并且基于以下方式控制提供给压电元件的驱动信号频率的扫描速度：该检测信号。因此，即使由于周围温度或负载的波动而在压电元件的驱动频率上发生不均匀性，也可以克服这种不均匀性而无需调整，可以可靠地驱动压电元件。此外，由于当振动部件处于非驱动状态时驱动信号频率的扫描速度处于高速度，所以可以减少压电元件不能驱动的不必要的驱动信号输出时间，不需要功率消耗削减驱动对象的驱动速度的不均匀性也可以减小。

9. 发明申请

US20060006762A1 Drive method for piezoelectric actuator, drive apparatus for piezoelectric actuator, electronic device, control program for drive apparatus for piezoelectric actuator, and recording medium 有权
标题翻译：用于压电致动器的驱动方法，压电致动器的驱动装置，电子装置，用于压电致动器的驱动装置的控制程序和记录介质
公开(公告)号：US20060006762A1
公开(公告)日：2006-01-12
申请号：US11178462
申请日：2005-07-12
申请人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
发明人： Jun Matsuzaki , Takashi Kawaguchi , Reiko Nagahama
IPC分类号： H01L41/04
CPC分类号： H02N2/004 , H02N2/103 , H02N2/142
摘要： The frequency of a drive signal supplied to a piezoelectric actuator 91 is swept within a specific range, the consumption current of the piezoelectric actuator 91 is determined, and when the consumption current is equal to or greater than a reference value, the frequency of the drive signal supplied to the piezoelectric actuator 91 is shifted proportionate to a specific frequency and returned to its initial value, and the frequency sweep is continued. The resonance frequency component can be removed when the frequency of the drive signal supplied to the piezoelectric element is swept. Consequently, the piezoelectric element can be driven outside of the resonance frequency range at which the consumption current is highest, allowing extreme increases in the consumption current to be prevented and system failures due to the flow of an excessive consumption current to be avoided.
摘要翻译：提供给压电致动器91的驱动信号的频率在特定范围内扫描，确定压电致动器91的消耗电流，并且当消耗电流等于或大于参考值时，驱动器的频率提供给压电致动器91的信号与特定频率成比例地移位并返回到其初始值，并且频率扫描继续。当提供给压电元件的驱动信号的频率被扫描时，可以去除共振频率分量。因此，可以将压电元件驱动到消耗电流最高的共振频率范围之外，从而能够防止消耗电流的极大增加，并避免由于过量消耗电流的流动导致的系统故障。

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