CN101145741B - Dual-stator 3-freedom ultrasonic motor - Google Patents
Dual-stator 3-freedom ultrasonic motor Download PDFInfo
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- CN101145741B CN101145741B CN2007101309489A CN200710130948A CN101145741B CN 101145741 B CN101145741 B CN 101145741B CN 2007101309489 A CN2007101309489 A CN 2007101309489A CN 200710130948 A CN200710130948 A CN 200710130948A CN 101145741 B CN101145741 B CN 101145741B
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Abstract
The invention relates to a ball rotor ultrasonic motor with three freedom degrees, in particular to a dual-stator/ball rotor clamping type ultrasonic motor with three freedom degrees. The motor comprises a first cylinder stator (1), a second cylinder stator (2), a ball rotor (3), and an electrode plate (104), wherein the two cylinder stators of the ultrasonic motor with three freedom degrees have the identical structure and are symmetrically arranged and fixed by an elastic supporting plate (4), and the two cylinder stators clamp the ball rotor (3) with a moment output rod (301) and are used for regulating the pretightening force of the ball rotor clamped by the two cylinder stators by regulating a regulating screw (9) on a fixing and pretightening mechanism.
Description
Technical field
The present invention is a kind of dual-stator 3-freedom ultrasonic motor, and especially a kind of pair of Three Degree Of Freedom sound wave motor that stator/ball rotor is clipping belongs to the technical field that supersonic motor is made.
Background technology
Supersonic motor utilizes inverse piezoelectric effect that electric energy is converted into the vibration of motor stator, then by friction couple drive electric mover motion between motor stator and mover.Thereby supersonic motor has series of advantages, compares with traditional electromagnetic machine, and it has, and inertia is little, response is fast, control characteristic is good, not affected by magnetic fields, itself also do not produce characteristics such as magnetic field, positioning accuracy height simultaneously.Particularly it have in light weight, simple in structure, efficient is high, noise is little, low-speed big, can directly drive characteristics such as load.The multi-degree of freedom spherical piezoelectric ultrasonic motor has not only possessed a series of advantage of ultrasound electric machine, and has a tempting application prospect, it can be used for the universal wheel of shoulder, elbow, wrist joint position, the walking robot of robot arm, with the conveyer belt that planar object moves to any direction, also can be used for the monitor of making a video recording.
But for ball rotor 3-freedom ultrasonic motor, because the ball rotor can produce three-degree-of-freedom motion, therefore precompression to apply one be the difficult point of this design of electrical motor, utilize the deadweight of ball rotor to produce precompression in the past, magnetic material perhaps is installed on stator is held the ball rotor to produce precompression.Utilize these methods less to the precompression that the ball rotor applies, the output torque of corresponding ball rotor is also very little, and this makes that the application of ball rotor 3-freedom ultrasonic motor is relatively more difficult.
Technology contents
Technical problem: the object of the present invention is to provide a kind of dual-stator 3-freedom ultrasonic motor, this motor has solved the original little shortcoming of 3-freedom ultrasonic motor output torque, the output torque when having improved the operation of motor ball rotor Three Degree Of Freedom greatly.
Technical scheme: the invention discloses a kind of dual-stator 3-freedom ultrasonic motor, this motor comprises the first cylinder stator, the second cylinder stator, spherical spinner, electrode slice, it is characterized in that the spherical spinner left and right sides mirror image that has the moment take-off lever is symmetrical arranged the first identical and coaxial cylinder stator of structure and the second cylinder stator, the first cone shaped opening end and the second cone shaped opening end inwall and spherical spinner sphere are tangent, the axle that is parallel to the cylinder stator is provided with flat base, elastic supporting plate vertically connects the flat base left end, base plate vertically connects the flat base right-hand member, between elastic supporting plate and base plate, be provided with square flexible supporting frames, square flexible supporting frames lower end sliding contact flat base, the first cylinder stator vertically runs through and is fixed in the elastic supporting plate stage casing, the second cylinder stator is fixed in the square flexible supporting frames left side, adjusting screw(rod) cooperates with the inner thread of the pedestal plate hole that has mesopore, is provided with spring between square flexible supporting frames the right and adjusting screw(rod) left end; The first cylinder stator comprises four match block, the other end from the first cone shaped opening end to the first cylinder stator be provided with first adjacent two match block first curved shake potsherd to, be provided with between second adjacent two match block the longitudinal vibration potsherd to, that the second curved potsherd that shakes is set between adjacent two match block of third phase is right, above-mentioned each potsherd is to constituting by accompanying an electrode slice between two piezoelectric ceramic pieces; Wherein the pretension screw rod has protruding joint, and each match block has circular trough.
The first above-mentioned curved potsherd that shakes is spent reverse polarization mutual deviation 90 on shaft position reverse polarization, the second curved potsherd that shakes,, the longitudinal vibration potsherd is a same-phase to the driving voltage that polarizes in the same way.
This motor is by the cylinder stator of two 3-freedom ultrasonic motors, one be used for the spherical spinner of moment output and fixedly pre-tightening mechanism form, the cylinder stator of two 3-freedom ultrasonic motors has identical mechanical structure, symmetry is placed, last two elastic supporting plates by fixing pre-tightening mechanism fixing, spherical spinner that has the moment take-off lever of two cylinder stators clamping, by regulating the adjusting screw(rod) on the fixing pre-tightening mechanism, regulate the pretightning force of two cylinder stator clamp holding shape rotors.The cylinder stator structure of two 3-freedom ultrasonic motors is identical, the cylinder stator be by the pretension screw rod that has two projectioies will have match block on the stator of circular trough, have in the middle of two stators of circular trough under match block and the stator match block respectively three pairs of piezoelectric ceramic of clamping link together.Totally 6 groups each 2 of the piezoelectric ceramic of whole pair of stator/clipping 3-freedom ultrasonic motor of ball rotor, the dividing electrodes of A, B two-phase piezoelectric ceramic is two districts, and reverse polarization mutually, C phase piezoelectric ceramic is a subregion, single-phase polarization, every group of piezoelectric ceramic symmetry in twos is superimposed together, and the polarity of A, B two-phase piezoelectric ceramic is mutual deviation 90 degree on the concentric plane.Three groups of piezoelectric ceramic mutual deviations of two cylinder stators are axis with the central shaft, differ 180 degree on two corresponding A phase spaces, differ 180 degree on two B phase spaces.The cylinder stator is fixed on the flat base by two elastic supporting plates, and elastic supporting plate is placed in C phase piezoelectric ceramic one side on the cylinder stator respectively.Adjust the pressure of a spherical spinner of two cylinder stators clamping by adjusting screw(rod) and spring.Motor is mounted with a moment take-off lever on the ball rotor.
Technique effect
The invention reside in provides a kind of dual-stator 3-freedom ultrasonic motor, and it has not only possessed the series of advantages of supersonic motor, and has improved the output torque when motor ball rotor Three Degree Of Freedom moves greatly.The diameter of making is two stators/clipping 3-freedom ultrasonic motor of ball rotor of 20mm, two shared same three phase mains of cylinder stator.When driving with the two-phase in the three phase mains, respectively when three operations of spatial vertical maximum output torque reach 50,43 respectively, 55mNm, maximum rotative speed is respectively 17.8,17.1,37.7rpm.Therefore, of the present invention pair of stator/clipping 3-freedom ultrasonic motor of ball rotor changes the installation way of 3-freedom ultrasonic motor in the past, improve the precompression of motor by ball rotor of two motor stator clampings, thereby the output torque when having improved the motor operation greatly is for the application of this motor provides bright prospects.
Description of drawings
Fig. 1 is an overall construction drawing of the present invention.Wherein have the curved potsherd that shakes of the first cylinder stator 1, the first cone shaped opening end 101, circular trough 102, protruding joint 103, electrode slice 104, pretension screw rod 105, first to 106, the longitudinal vibration potsherd to 107, the second curved potsherd that shakes to 108, match block 109, the second cylinder stator 2, the second cone shaped opening end 201, spherical spinner 3, moment take-off lever 301, elastic supporting plate 4, flexible supporting frames 5, flat base 6, spring 7, base plate 8, adjusting screw(rod) 9.
Fig. 2 is the polarization scheme of installation of piezoelectric ceramic of the present invention."+" wherein is the forward polarization, and "-" is reverse polarization.Wherein have the first curved potsherd that shakes to 106, the longitudinal vibration potsherd to 107, the second curved potsherd that shakes to 108, the curved potsherd that shakes of mirror image first to 206, mirror image longitudinal vibration potsherd to 207, mirror image second is curved shakes potsherd to 208.
Embodiment
Dual-stator 3-freedom ultrasonic motor of the present invention is by the cylinder stator of two cylinder stator 3-freedom ultrasonic motors, one be used for the spherical spinner 3 of moment output and fixedly pre-tightening mechanism form, the cylinder stator of two 3-freedom ultrasonic motors has identical mechanical structure, symmetry is placed, last two elastic supporting plates by fixing pre-tightening mechanism fixing, one of two cylinder stators clamping has the spherical spinner 3 of moment take-off lever 301, by regulating the adjusting screw(rod) 9 on the fixing pre-tightening mechanism, regulate the pretightning force of two cylinder stator clamp holding shape rotors.The cylinder stator of 3-freedom ultrasonic motor be by the pretension screw rod 105 that has two projectioies will have match block on the stator of circular trough, have in the middle of two stators of circular trough under match block and the stator match block respectively three pairs of piezoelectric ceramic of clamping link together.Wherein, two groups of corresponding A phase piezoelectric ceramic are with respect to the central shaft 180 degree Space Angle that stagger, and two groups of corresponding B phase piezoelectric ceramic are with respect to central shaft 180 degree that spatially also stagger.Can make another one cylinder stator in the same way.Two cylinder stators are fixed on the base 6 by two elastic supporting plates respectively, and elastic supporting plate is placed in C phase piezoelectric ceramic one side on the cylinder stator respectively.Adjust the pressure of a spherical spinner 3 of two cylinder stators clamping by adjusting screw(rod) 9 and spring 7 and just can regulate the precompression between motor stator and rotor like this.
Totally 6 groups each 2 of the piezoelectric ceramic of dual-stator 3-freedom ultrasonic motor of the present invention, the dividing electrodes of A, B two-phase piezoelectric ceramic is two districts, and reverse polarization mutually, C phase piezoelectric ceramic is a subregion, single-phase polarization, every group of piezoelectric ceramic symmetry in twos is superimposed together, the polarity of A, B two-phase piezoelectric ceramic 180 degree that on the concentric plane, stagger, about three groups of piezoelectric ceramic mutual deviations, 90 degree of two cylinder stators.Applying the two-phase phase difference respectively at A, B two-phase piezoelectric ceramic is 90 ° alternating voltage, and the alternating voltage that applies on C phase piezoelectric ceramic is adjustable, thereby is used for adjusting the running orbit of this rotor.
Claims (1)
1. dual-stator 3-freedom ultrasonic motor, this motor comprises the first cylinder stator (1), the second cylinder stator (2), spherical spinner (3), electrode slice (104), spherical spinner (3) left and right sides mirror image that it is characterized in that having moment take-off lever (301) is symmetrical arranged the first identical and coaxial cylinder stator (1) of structure and the second cylinder stator (2), the first cone shaped opening end (101) of the first cylinder stator (1) and second cone shaped opening end (201) inwall and spherical spinner (3) sphere of the second cylinder stator (2) are tangent, the axle that is parallel to the cylinder stator is provided with flat base (6), elastic supporting plate (4) vertically connects flat base (6) left end, base plate (8) vertically connects flat base (6) right-hand member, between elastic supporting plate (4) and base plate (8), be provided with square flexible supporting frames (5), square flexible supporting frames (5) lower end sliding contact flat base (6), the first cylinder stator (1) vertically runs through and is fixed in elastic supporting plate (4) stage casing, the second cylinder stator (2) is fixed in square flexible supporting frames (5) left side, adjusting screw(rod) (9) cooperates with the mesopore inner thread of base plate (8), is provided with spring (7) between square flexible supporting frames (5) the right and adjusting screw(rod) (9) left end; The first cylinder stator (1) comprises four match block (109), the other end from the first cone shaped opening end (101) to the first cylinder stator (1) is provided with the longitudinal vibration potsherd between to (106), second adjacent two match block and is provided with second between to (107), the 3rd adjacent two match block and curvedly shakes potsherd to (108) in that the first curved potsherd that shakes is set first adjacent two match block, and above-mentioned each potsherd is to constituting by accompanying an electrode slice (104) between two piezoelectric ceramic pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101309489A CN101145741B (en) | 2007-08-24 | 2007-08-24 | Dual-stator 3-freedom ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101309489A CN101145741B (en) | 2007-08-24 | 2007-08-24 | Dual-stator 3-freedom ultrasonic motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101145741A CN101145741A (en) | 2008-03-19 |
| CN101145741B true CN101145741B (en) | 2010-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101309489A Expired - Fee Related CN101145741B (en) | 2007-08-24 | 2007-08-24 | Dual-stator 3-freedom ultrasonic motor |
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| CN (1) | CN101145741B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109248847B (en) * | 2018-10-17 | 2024-02-23 | 南方科技大学 | Ultrasonic transducer and end-face elliptical vibration system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1388637A (en) * | 2002-06-14 | 2003-01-01 | 南京航空航天大学 | Monostator three-freedon supersonic motor |
| CN201075849Y (en) * | 2007-08-31 | 2008-06-18 | 东南大学 | Dual stator clamping type three freedom ultrasound wave electric machine |
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2007
- 2007-08-24 CN CN2007101309489A patent/CN101145741B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1388637A (en) * | 2002-06-14 | 2003-01-01 | 南京航空航天大学 | Monostator three-freedon supersonic motor |
| CN201075849Y (en) * | 2007-08-31 | 2008-06-18 | 东南大学 | Dual stator clamping type three freedom ultrasound wave electric machine |
Non-Patent Citations (1)
| Title |
|---|
| CN 1388637 A,全文. |
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| CN101145741A (en) | 2008-03-19 |
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Granted publication date: 20100811 Termination date: 20130824 |