CN101072001B - Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner - Google Patents
Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner Download PDFInfo
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- CN101072001B CN101072001B CN2007100209619A CN200710020961A CN101072001B CN 101072001 B CN101072001 B CN 101072001B CN 2007100209619 A CN2007100209619 A CN 2007100209619A CN 200710020961 A CN200710020961 A CN 200710020961A CN 101072001 B CN101072001 B CN 101072001B
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Abstract
The motor includes stator, rotor, and piezoelectric ceramics. The stator is in sandwich structure: two circle stators hold piezoelectric ceramic ring. Two rotors are pressed on two end faces of stator. Piezoelectric ceramics are in use for exciting mode of vibration inside faces of stator. At the same time, Poissons effect makes particles on two end faces of stator generate axial displacement. Using two sinusoidal signals with pi /2 phase difference excites modes of vibration in isomorphic faces of stator with pi /2 difference in space synchronously. Thus, traveling waves are produced on two end faces of stator synchronously. Moreover, particles on surface generate elliptic motions. The said elliptic motions through friction drive rotation of rotor pressed on the stator. Features are: simple structure, high driving efficiency, large moment, reliable operation, and low fabrication cost.
Description
One, technical field:
Toothless traveling wave rotary ultrasonic motor of the present invention and operation mode and electric excitation mode belong to the ultrasound electric machine field.
Two, background technology:
Ultrasound electric machine is to utilize the inverse piezoelectric effect of piezoelectric ceramic and the new type power output device of ultrasonic vibration.Wherein, Toothless traveling wave rotary ultrasonic motor belongs to a kind of of ultrasound electric machine.At present, rotary ultrasonic motor can be divided into standing wave type and travelling-wave type: standing wave type is a principal character with single phase poaer supply excitation and stator and rotor Intermittent Contact; Travelling-wave type is a principal character uninterruptedly to contact between 2 phase power supplys excitations and stator and rotor.Comparatively speaking, travelling-wave type moment potentiality are big, performance is more stable relatively.But, the same frequency similar shape flexural vibration mode that existing travelling-wave type electric rotating machine adopts 2 quadratures on circular slab or the belt plate more is as operation mode, and the refracted traveling wave that its circumferential displacement that is used to drive the surperficial particle of rotor derives from the stator neutral line is departing from the lip-deep circumferential distortion of neutral line.The increase that this distortion departs from the distance of neutral line with the surface increases, because too thick plate can cause beam frequency to increase, amplitude reduces.Generally plectane or belt plate are provided with uniform tooth, do not reduce curved amplitude when satisfying the certain circumferential displacement of surperficial particle as far as possible, and this just makes the advantage of Continuous Contact of traveling wave type ultrasonic motor suffer destruction to a certain degree certainly.Simultaneously, the cost that tooth has also increased machining is set on circle or annular slab.
Three, summary of the invention:
The objective of the invention is to develop a kind of moment simple in structure, big, efficient height, response speed is fast, range of application the is wider ultrasound electric machine that rotatablely moves.
Toothless traveling wave rotary ultrasonic motor of the present invention.Comprise stator, rotor and piezoelectric ceramic.Be characterized in: described stator is the marmon clamp heart type structure: two piezoelectric ceramic are clamped between two belt stators, and electrode slice is clamped between two piezoelectric ceramic; Described rotor is made up of ring-shaped rotor I and ring-shaped rotor II, wherein, the bindiny mechanism on the rotor I packs in the annular stator inner chamber, and its working face is pressed on the end face of stator, rotor II links to each other by the bindiny mechanism of screw thread with rotor I, and its working face is pressed on another end face of stator.Make the web that is connected working face on rotor I and the rotor II produce strain by screw thread fastening, the precompression between stator and rotor is provided.The characteristics of the operation mode of Toothless traveling wave rotary ultrasonic motor: adopt 2 same mode of similar shape in plane vibration frequently of stator as operation mode, under operation mode because poisson effect, stator produces axial deformation, for the particle on two end faces of stator provides axial displacement.The characteristics of the electric excitation mode of Toothless traveling wave rotary ultrasonic motor: with phase difference be pi/2 or-two sinusoidal signals of pi/2 encourage stator spatially to differ the similar shape in plane vibration mode of pi/2 through piezoelectric ceramic simultaneously, make when producing the row ripple on the stator faces, itself and the contacted surperficial particle in rotor peripheral face produce elliptic motion, promote rotor rotation through friction.
The circumferential displacement of Toothless traveling wave rotary ultrasonic motor of the present invention surface particle derives from it in circumferential in plane vibration, tooth need be set on end face amplify circumferential amplitude, 2 same mode of similar shape in plane vibration frequently are as operation mode, with 2 sinusoidal signal excitations that have the pi/2 phase difference in time, can produce the elliptic motion of 2 end face upper surface particles, promote to press rotor thereon to rotate along circumferential.Simple in structure, the stable performance of the rotary ultrasonic motor of Gou Chenging like this, moment is big, rotating speed is big, machining cost is lower, has more wide application prospect.
Four, description of drawings:
Fig. 1. the Toothless traveling wave rotary ultrasonic motor structural representation.
Number in the figure title: 1, rotor I; 2, annular stator I; 3, piezoelectric ceramic; 4, annular stator II; 5, rotor II; 6, electrode slice.
Fig. 2. stator in plane vibration mode.
Number in the figure title: 7,9, stator faces does not have the diameter of circumferential displacement during in plane vibration; 8, the circumferential direction of displacement of stator faces particle during stator vibration.
Fig. 3. stator shaft orientation poisson effect under the stator in plane vibration mode.
Number in the figure title: 10 a, bus on the stator external cylindrical surface that intersects with diameter shown in Figure 27; 11, a bus on the stator external cylindrical surface that intersects with diameter shown in Figure 29.
Fig. 4. piezoelectric ceramic electrode subregion schematic diagram.
12,13, be used to excite the driving signal input of stator in plane vibration mode I number in the figure title:; 14,15, be used to excite the driving signal input of stator in plane vibration mode II.
Fig. 5. stator faces row wave motion direction and end face particle motion trace when mode I and mode II differ pi/2.
Number in the figure title: 16, stator faces row wave motion direction; 17, stator faces particle motion trace.
Fig. 6. mode I and mode II differ-stator faces row wave motion direction and end face particle motion trace during pi/2.
Number in the figure title: 16, stator faces row wave motion direction; 17, stator faces particle motion trace.
Five, embodiment:
A kind of utilization gone in ring stator in plane vibration and consequent poisson effect and made the stator faces particle carry out Toothless traveling wave rotary ultrasonic motor that elliptic motion promotes to press rotor rotation thereon through friction as shown in Figure 1.Its characteristics: stator is to be made of 28 subregion piezoelectric ceramic 3 of 2 annular stators, 2,4 clampings, and electrode slice 6 is arranged in the middle of 2 piezoelectric ceramic; Rotor is made up of rotor I and rotor II, wherein, the annular stator inner chamber passes in the bindiny mechanism on the rotor I, and its working face is pressed on the end face of stator, rotor II links to each other by the bindiny mechanism of screw thread with rotor I, and its working face is pressed on another end face of stator.Make the web that is connected working face on rotor I and the rotor II produce strain by screw thread fastening, the precompression between stator and rotor is provided.Electrode slice 6 is used for 2 similar shape in plane vibration mode that input drive signal excites stator, forms the capable ripple of stator faces, makes the stator faces particle produce elliptic motion, promotes rotor 1,5 motions.
As shown in Figure 4, on the driving signal input 12,13 that excites stator in plane vibration mode, apply signal of telecommunication E respectively
1=V sin (ω t) and E
2=-V sin (ω t) can excite stator in plane vibration as shown in Figure 2, simultaneously because poisson effect in stator shaft orientation generation distortion as shown in Figure 3, forms mode of oscillation I; On piezoelectric ceramic 14,15, apply signal of telecommunication E respectively
3=V sin (ω t+ pi/2) and E
4=-V sin (ω t+ pi/2) can excite stator and similar shape in plane vibration mode shown in Figure 2, makes the distortion of stator shaft orientation generation and similar shape shown in Figure 3 simultaneously, forms mode of oscillation II.As 4 signal (E
1, E
2, E
3, E
4) when applying simultaneously, can form the stack of mode of oscillation I mode of oscillation II as shown in Figure 5, make and form the capable ripple of advancing on the stator faces along direction 16, make the particle on the stator faces synthesize elliptic motion 17 at the component motion of stator circumferential and axial simultaneously, the elliptic motion of end face particle promotes to press thereon rotor I and rotor II to rotate through friction.
In like manner, on exciting the driving signal input 12,13 of stator in plane vibration mode, shown in Figure 4 being used to apply signal of telecommunication E respectively
1=V sin (ω t) and E
2=-V sin (ω t) can excite stator in plane vibration as shown in Figure 2, simultaneously because poisson effect in stator shaft orientation generation distortion as shown in Figure 3, forms mode of oscillation I; On piezoelectric ceramic 14,15, apply signal of telecommunication E respectively
3=V sin (ω t-pi/2) and E
4=-V sin (ω t-pi/2) can excite stator and similar shape in plane vibration shown in Figure 2, makes the distortion of stator shaft orientation generation and similar shape shown in Figure 3 simultaneously, forms mode of oscillation II.As 4 signal (E
1, E
2, E
3, E
4) when applying simultaneously, can form the stack of mode of oscillation I mode of oscillation II as shown in Figure 6, make and form the capable ripple of advancing on the stator faces along direction 16, make the particle on the stator faces synthesize elliptic motion 17 at the component motion of stator circumferential and axial simultaneously, the elliptic motion of end face particle promotes to press thereon rotor I and rotor II to rotate through friction.
This ultrasound electric machine compact conformation helps miniaturization; The circumferential movement of end face particle drives rotor when utilizing in plane vibration, need not to process tooth on stator, and processing cost is low, helps industrialization; Adopt the stator Double End to drive, moment is big; The stator and rotor Continuous Contact drives efficient height, reliable operation.
Principles of structural design:
1. should avoid its bending vibration modes or other mode during stator design, 2 track rings 2,4 use identical material, same size, make piezoelectric ceramic effectively excite stator in plane vibration mode.
2.2 the identical piezoelectric ceramic ring of the individual number of partitions 3 is unidirectional to be intensified, subregion is relatively oppositely installed common electrode sheet 6.Stator, piezoelectric ceramic and electrode slice are fixed together with the high strength alite paste.
3.2 the contact-making surface of individual rotor 1,5 and stator faces adopts same size and similar face character, makes the stator faces particle consistent to its effect.
Claims (3)
1. a Toothless traveling wave rotary ultrasonic motor comprises stator, rotor and piezoelectric ceramic, it is characterized in that, described stator is the marmon clamp heart type structure: two piezoelectric ceramic are clamped between two annular stators, and electrode slice is clamped between two piezoelectric ceramic; Described rotor is made up of the first rotor and second rotor, wherein, the annular stator inner chamber passes in bindiny mechanism on the first rotor, its working face is pressed on the end face of stator, second rotor links to each other with the bindiny mechanism of the first rotor by screw thread, its working face is pressed on another end face of stator, makes the web that is connected working face on the first rotor and second rotor produce strain by screw thread fastening, and the precompression between stator and rotor is provided.
2. the operation mode of a Toothless traveling wave rotary ultrasonic motor as claimed in claim 1 is characterized in that, adopts 2 same mode of similar shape in plane vibration frequently of stator as operation mode; Owing to poisson effect, stator produces axial deformation, for the particle on two end faces of stator provides axial displacement under operation mode.
3. the electric excitation mode of a Toothless traveling wave rotary ultrasonic motor as claimed in claim 1, it is characterized in that, with phase difference be pi/2 or-two sinusoidal signals of pi/2 encourage stator spatially to differ the similar shape in plane vibration mode of pi/2 through piezoelectric ceramic simultaneously, make when producing the row ripple on the stator faces, itself and the contacted surperficial particle in rotor peripheral face produce elliptic motion, promote rotor rotation through friction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007100209619A CN101072001B (en) | 2007-04-05 | 2007-04-05 | Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner |
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| CN2007100209619A CN101072001B (en) | 2007-04-05 | 2007-04-05 | Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner |
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| CN101072001B true CN101072001B (en) | 2010-08-04 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4780770B2 (en) * | 2006-04-10 | 2011-09-28 | 株式会社豊田自動織機 | Vibration actuator |
| CN101388621B (en) * | 2008-07-07 | 2010-12-15 | 哈尔滨工业大学 | Sandwich type round plate stator and ultrasonic motor using the same |
| CN101546967B (en) * | 2009-05-08 | 2012-05-23 | 电子科技大学 | Thin type standing wave rotary ultrasonic motor |
| CN101707445B (en) * | 2009-11-12 | 2013-01-09 | 南京航空航天大学 | Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof |
| CN105312679B (en) * | 2015-10-15 | 2017-08-04 | 南京航空航天大学 | Three-D ultrasonic elliptical vibration auxiliary cutting device and elliptical orbit production method |
| CN110932597B (en) * | 2019-11-25 | 2022-10-04 | 南京航空航天大学 | Variable frequency vibration method capable of shortening response time and vibration actuator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1209685A (en) * | 1998-08-28 | 1999-03-03 | 清华大学 | Cylindrical-shaped piezo ultrasonic micro-motor based on freely-bending vibration mode |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1209685A (en) * | 1998-08-28 | 1999-03-03 | 清华大学 | Cylindrical-shaped piezo ultrasonic micro-motor based on freely-bending vibration mode |
Non-Patent Citations (1)
| Title |
|---|
| JP昭61-277384A 1986.12.08 |
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