# US 5,332,942 A · Inchworm actuator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,332,942 A - Document ID: US5332942A - Status: Granted - Kind: A - Application number: 08/072,855 - Filed: 1993-06-07 - Granted: 1994-07-26 - Earliest claimed: 1993-06-07 - Inventors: Brian G. Rennex - Web page: https://patentgrep.com/patent/US5332942A ## CPC - H02N 2/023: {Inchworm motors} - H02N: ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR ## Abstract This invention relates to inchworm linear motors or piezoelectric linear actuators and in particular to designs which address difficulties associated with miniaturization, the primary one being that the clamping driver is typically oriented laterally to the drive direction and when the lateral dimension becomes very small there is not sufficient displacement of the clamping driver to allow a practical clamping. That is, the tolerance required for the device dimensions would then be prohibitively small. This problem is overcome by orienting the clamping drivers longitudinally, i.e. parallel, to the drive direction, thereby permitting the length of said clamping drivers to be significantly greater than for the prior art case of lateral orientation. An additional feature re-directs the longitudinal clamp-drive to a lateral direction for clamping of the driven element. ## Claims ### Claim 1 An inchworm actuator comprising: a driven element, a driver base, a driver assembly comprising a driver actuator, wherein said driver actuator has a length that is greater than its width or depth, wherein said driver actuator is oriented so that said driver actuator length is parallel to the direction in which said driven element is driven, wherein a bottom end of said driver actuator is fixedly attached to said driver base, a moving clamp assembly comprising a moving clamp actuator, a moving clamp, and a moving clamp support fixedly attached at its top end to the top of said driver actuator, wherein said moving clamp actuator has a length that is greater than its width or depth, wherein said moving clamp actuator is oriented so that said moving clamp actuator length is parallel to the direction in which said driven element is driven, wherein the bottom of said moving clamp actuator is fixedly attached to the bottom of said moving clamp support, wherein said moving clamp is attached to the top of said moving clamp support, wherein said moving clamp actuator drives said moving clamp to clamp said driven element, a second clamp assembly, the bottom of which is fixedly attached to said driver base, wherein said second clamp assembly has a length that is greater than its widths or depths, wherein said second clamp assembly is oriented so that said length is parallel to the direction in which said driven element is driven, wherein said second clamp assembly may be activated to clamp said driven element, and a wiring system for activation of said driver actuator, said moving clamp actuator, and said second clamp assembly for driving said inchworm actuator to expand or contract, wherein said expansion occurs when the following actuator stroke cycle is enacted: in a first period of time said second clamp assembly releases said driven element and said moving clamp assembly engages said driven element, at which time said driver actuator changes length to drive said moving clamp assembly and said driven element in an expanding direction; and in a second period said moving clamp assembly releases said driven element at which time said second clamp assembly engages said driven element, after which time said driver actuator undergoes its return stroke in the direction of contraction, wherein said contraction occurs when the following actuator stroke cycle is enacted: in a first period of time said second clamp assembly releases said driven element and said moving clamp assembly engages said driven element, at which time said driver actuator changes length to drive said moving clamp assembly and said driven element in a contracting direction; and in a second period said moving clamp assembly releases said driven element at which time said second clamp assembly engages said driven element, after which time said driver actuator undergoes its return stroke in the direction of expansion. ### Claim 2 (depends on 1) The inchworm actuator of claim 1, wherein said second clamp assembly comprises: a fixed clamp assembly comprising a fixed clamp support, the bottom of which is attached to said driver base, and a fixed clamp, which is driven to clamp said driven element by a fixed actuator, wherein said fixed actuator has a length that is greater than its width or depth, wherein said fixed actuator is oriented so that said fixed actuator length is parallel to the direction in which said driven element is driven, wherein a bottom end of said fixed actuator is fixedly attached to said driver base. ### Claim 3 (depends on 1) The inchworm actuator of claim 1, wherein said second clamp assembly comprises: a second driver assembly comprising an second driver actuator, wherein said second driver actuator has a length that is greater than its width or depth, wherein said second driver actuator is oriented so that said second driver actuator length is parallel to the direction in which said driven element is driven, wherein a bottom end of said second driver actuator is fixedly attached to said driver base, and a second moving clamp assembly comprising a second moving clamp actuator, a second moving clamp, and a second moving clamp support fixedly attached at its top end to the top of said driver actuator, wherein said second moving clamp actuator has a length that is greater than its width or depth, wherein said second moving clamp actuator is oriented so that said second moving clamp actuator length is parallel to the direction in which said driven element is driven, wherein the bottom of said second moving clamp actuator is fixedly attached to the bottom of said second moving clamp support, wherein said second moving clamp is attached to the top of said second moving clamp support, wherein said second moving clamp actuator drives said second moving clamp to clamp said driven element, wherein said wiring system provides particular control sequences of activation of said driver actuator, said moving clamp actuator, said second driver actuator, and said second moving clamp actuator which result in the continuous expansion or contraction of said inchworm actuator, wherein said continuous expansion occurs when the following actuator stroke cycle is enacted: in a first period of time said second moving clamp assembly releases said driven element and said moving clamp assembly engages said driven element, at which time said driver actuator changes length to drive said moving clamp assembly and said driven element in direction of expansion; and in a second period of time said moving clamp assembly releases said driven element at which time said second moving clamp assembly engages said driven element, after which time said driver actuator undergoes its return stroke in the direction of contraction while at the same time said second moving clamp actuator drives said second moving clamp to clamp said driven element at which time said second driver actuator drives said second moving clamp assembly and said driven element in the direction of expansion, wherein said continuous contraction occurs when the following actuator stroke cycle is enacted: in a first period of time said moving clamp assembly releases said driven element and said second moving clamp assembly engages said driven element, at which time said second driver actuator changes length to drive said second moving clamp assembly and said driven element in direction of contraction, and in a second period of time said second moving clamp assembly releases said driven element at which time said moving clamp assembly engages said driven element, after which time said second driver actuator undergoes its return stroke in the direction of expansion while at the same time said moving clamp actuator drives said moving clamp to clamp said driven element at which time said driver actuator drives said moving clamp assembly and said driven element in the direction of contraction. ### Claim 4 (depends on 1) The inchworm actuator of claim 1, wherein said driven element, said driver base, and said driver assembly are arranged in a configuration which forms a rectangular cross-section. ### Claim 5 (depends on 1) The inchworm actuator of claim 1, wherein said driven element, said driver base and said driver assembly are arranged in a configuration which forms an arcuate cross-section. ### Claim 6 (depends on 1) The inchworm actuator of claim 1, wherein said driven element is driven along a straight line. ### Claim 7 (depends on 1) The inchworm actuator of claim 1, wherein said driven element is driven along a curved line. ### Claim 8 (depends on 1) The inchworm actuator of claim 1, wherein said driven element, said driver base and said driver assembly are arranged in a configuration which forms a rectangular array. ### Claim 9 (depends on 1) The inchworm actuator of claim 1, wherein said driven element, said driver base and said driver assembly are arranged in a cylindrical configuration. ### Claim 10 (depends on 1) The inchworm actuator of claim 1, wherein said driver assembly further comprises: a driver support located adjacent to said driver actuator, a reaction bar fixedly attached to the top of said driver support, and an incremental reversal spring which is located between said reaction bar and said driver actuator and which acts to oppose the motion of said driver actuator. ### Claim 11 (depends on 1) The inchworm actuator of claim 1, wherein said driver assembly further comprises a reversal spring attached at one end to the top of said driven element and at the bottom end to said driver base, wherein said reversal spring acts to oppose the motion of said driver actuator. ### Claim 12 (depends on 1) The inchworm actuator of claim 1, wherein said moving clamp comprises a bent lever further comprising a first arm, a second arm, and a bent-lever fulcrum, wherein said bent lever is rotatably attached to said moving clamp support via said bent-lever fulcrum and wherein said bent lever is located adjacent to said driven element in such a way that when said moving clamp actuator acts against said first arm, said bent lever rotates and said second arm impinges against said driven element. ### Claim 13 (depends on 2) The inchworm actuator of claim 2, wherein said fixed clamp comprises a bent lever further comprising a first arm and a second arm, wherein said bent lever is rotatably attached to said fixed clamp support and wherein said bent lever is located adjacent to said driven element in such a way that when said fixed clamp actuator acts against said first arm, said bent lever rotates and said second arm impinges against said driven element. ### Claim 14 (depends on 1) The inchworm actuator of claim 1, wherein said driver assembly comprises one or more of the following: a driver cap fixedly attached to the top of said driver actuator, a driver bar attached to the top of said moving clamp support, a driver support adjacent to said driver actuator, an amplifying lever, a fulcrum fixedly attached to a top portion of said driver support about which said amplifying lever rotates, a first linkage between said driver cap and a portion of said amplifying lever, a second linkage between said driver bar and an end of said amplifying lever, wherein said driver actuator drives said first linkage to cause said amplifying lever to rotate which causes said driver bar to act against said moving clamp support via said second linkage, thereby driving said driven element with a particular mechanical advantage, wherein the direction of motion of said driven element depends on the position at which said fulcrum is located on said amplifying lever. ### Claim 15 (depends on 14) The inchworm actuator of claim 14, wherein said first and second linkages comprise links. ### Claim 16 (depends on 14) The inchworm actuator of claim 14, wherein said first and second linkages comprise hinges of monolithic construction. ### Claim 17 (depends on 12) The inchworm actuator of claim 12, wherein said bent-lever fulcrum comprises a link. ### Claim 18 (depends on 12) The inchworm actuator of claim 12, wherein said bent-lever fulcrum comprises hinges of monolithic construction. ### Claim 19 An inchworm-actuator valve comprising: a tube, support tabs located within said tube, a nozzle seat located a distance above said support tabs within said tube, an inchworm actuator further comprising: a driven nozzle, a driver base fixedly attached to said support tabs, a driver assembly comprising a driver actuator, wherein said driver actuator has a length that is greater than its width or depth, wherein said driver actuator is oriented so that said driver actuator length is parallel to the direction in which said driven nozzle is driven, wherein a bottom end of said driver actuator is fixedly attached to said driver base, a moving clamp assembly comprising a moving clamp actuator, a moving clamp, and a moving clamp support fixedly attached at its top end to the top of said driver actuator, wherein said moving clamp actuator has a length that is greater than its width or depth, wherein said moving clamp actuator is oriented so that said moving clamp actuator length is parallel to the direction in which said driven nozzle is driven, wherein the bottom of said moving clamp actuator is fixedly attached to the bottom of said moving clamp support, wherein said moving clamp is attached to the top of said moving clamp support, wherein said moving clamp actuator drives said moving clamp to clamp said driven nozzle, a second clamp assembly, the bottom of which is fixedly attached to said driver base, wherein said second clamp assembly has a length that is greater than its widths or depths, wherein said second clamp assembly is oriented so that said length is parallel to the direction in which said driven nozzle is driven, wherein said second clamp assembly may be activated to clamp said driven nozzle, and a wiring system for activation of said driver actuator, said moving clamp actuator, and said second clamp assembly for driving said inchworm actuator to expand or contract, wherein said expansion occurs when the following actuator stroke cycle is enacted: in a first period of time said second clamp assembly releases said driven nozzle and said moving clamp assembly engages said driven nozzle, at which time said driver actuator changes length to drive said moving clamp assembly and said driven nozzle in an expanding direction; and in a second period said moving clamp assembly releases said driven nozzle at which time said second clamp assembly engages said driven nozzle, after which time said driver actuator undergoes its return stroke in the direction of contraction, wherein said contraction occurs when the following actuator stroke cycle is enacted: in a first period of time said second clamp assembly releases said driven nozzle and said moving clamp assembly engages said driven nozzle, at which time said driver actuator changes length to drive said moving clamp assembly and said driven nozzle in a contracting direction; and in a second period said moving clamp assembly releases said driven nozzle at which time said second clamp assembly engages said driven nozzle, after which time said driver actuator undergoes its return stroke in the direction of expansion, wherein said driven nozzle can be driven into said nozzle seat to block any fluid flow through said tube. ### Claim 20 (depends on 19) The inchworm-actuator valve of claim 19, wherein said nozzle seat further comprises a nozzle spring which resists the closing of said driven nozzle into said nozzle seat. ### Claim 21 (depends on 19) The inchworm-actuator of claim 19, wherein said driven nozzle further comprises: a flap axle fixedly attached within and across said tube in the vicinity of said nozzle seat, a butterfly flap rotatably attached to said flap axle, a flap driver link attached at one end to said driven nozzle and at the other end to said butterfly flap, wherein said driver actuator drives said driven nozzle to act against said butterfly flap via said flap driver link to close said butterfly link against said nozzle seat. ### Claim 22 (depends on 1) The inchworm-actuator of claim 1, wherein said driver actuator, said moving clamp actuator, or said second clamp assembly further comprise a piezoelectric driver. ### Claim 23 (depends on 1) The inchworm-actuator of claim 1, wherein said piezoelectric driver comprises a monolithic stack further comprising mesh electrodes and a piezoelectric body, wherein said mesh electrodes are imbedded in said piezoelectric body at intervals. ### Claim 24 (depends on 1) The inchworm-actuator of claim 1, wherein said piezoelectric driver comprises a transverse-poled driver further comprising longitudinal electrodes on either side of a longitudinal piezoelectric body. ### Claim 25 (depends on 1) The inchworm-actuator of claim 1, wherein said longitudinal electrodes comprise a center electrode and a perimeter electrode with said longitudinal piezoelectric body filling the intervening volume. ### Claim 26 (depends on 24) The inchworm-actuator of claim 24, wherein said piezoelectric driver further comprises longitudinal mesh electrodes spaced at intervals within said piezoelectric driver from one side of said longitudinal piezoelectric body to the other side. ### Claim 27 (depends on 25) The inchworm-actuator of claim 25, wherein said longitudinal electrodes further comprise cylindrical longitudinal mesh electrodes spaced at intervals within said piezoelectric driver from said center electrode to said perimeter electrode.