Piezoelectric driving device, driving method of piezoelectric driving device, and robot
US-11203040-B2 · Dec 21, 2021 · US
Control method for piezoelectric drive device, piezoelectric drive device, and robot
US11515812B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11515812-B2 |
| Application number | US-202017126047-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 18, 2020 |
| Priority date | Dec 20, 2019 |
| Publication date | Nov 29, 2022 |
| Grant date | Nov 29, 2022 |
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- Title
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Abstract
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A control method for a piezoelectric drive device includes a first step of executing first control to decrease a frequency of a drive voltage applied to a piezoelectric vibrator from a predetermined first frequency while acquiring a pickup voltage representing vibration amplitude of the piezoelectric vibrator, and a second step of executing second control to increase the frequency of the drive voltage applied to the piezoelectric vibrator to a second frequency as a frequency of the drive voltage applied before a second time when the pickup voltage is higher from a first time to the second time and the pickup voltage is lower from the second time to a third time.
First claim
Opening claim text (preview).
What is claimed is: 1. A control method for a piezoelectric drive device including a piezoelectric vibrator, comprising: a first step of executing first control to decrease a frequency of a drive voltage applied to the piezoelectric vibrator from a predetermined first frequency while acquiring a pickup voltage representing vibration amplitude of the piezoelectric vibrator; and a second step of executing second control to increase the frequency of the drive voltage applied to the piezoelectric vibrator to a second frequency as a frequency of the drive voltage applied before a second time when, in the first control, the pickup voltage is higher from a first time to the second time and the pickup voltage is lower from the second time to a third time. 2. The control method for the piezoelectric drive device according to claim 1 , wherein the second frequency is a frequency of the drive voltage applied to the piezoelectric vibrator before the first time. 3. The control method for the piezoelectric drive device according to claim 1 , wherein the second frequency is lower than the first frequency. 4. The control method for the piezoelectric drive device according to claim 1 , further comprising a third step of executing third control to adjust the second frequency to fix the pickup voltage after the second step, wherein the first step is executed again when an amount of change of the second frequency is equal to or larger than a predetermined value at the third step. 5. The control method for the piezoelectric drive device according to claim 1 , wherein the second control is executed at the second step when the pickup voltage is larger from the first time to the second time and an amount of change of the pickup voltage from the second time to the third time is equal to or larger than a predetermined value in the first control. 6. A piezoelectric drive device that drives a driven member, comprising: a piezoelectric vibrator that drives the driven member; and a control unit, wherein the control unit executes first control to decrease a frequency of a drive voltage applied to the piezoelectric vibrator from a predetermined first frequency while acquiring a pickup voltage representing vibration amplitude of the piezoelectric vibrator from the piezoelectric vibrator, and second control to increase the frequency of the drive voltage applied to the piezoelectric vibrator to a second frequency as a frequency of the drive voltage applied before a second time when, in the first control, the pickup voltage is higher from a first time to the second time and the pickup voltage is lower from the second time to a third time. 7. A robot comprising the piezoelectric drive device according to claim 6 .
Assignees
Inventors
Classifications
by pressing one or more vibrators against the rotor · CPC title
Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis · CPC title
- B25J9/12Primary
electric · CPC title
Constructional details · CPC title
using combined longitudinal modes · CPC title
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Frequently asked questions
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- What does patent US11515812B2 cover?
- A control method for a piezoelectric drive device includes a first step of executing first control to decrease a frequency of a drive voltage applied to a piezoelectric vibrator from a predetermined first frequency while acquiring a pickup voltage representing vibration amplitude of the piezoelectric vibrator, and a second step of executing second control to increase the frequency of the drive …
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/12. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Nov 29 2022 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 2 related publications on this page (citations in our corpus or others sharing the same primary CPC).