CN101202519A - Ultrasound electric machine with two degrees of freedom - Google Patents
Ultrasound electric machine with two degrees of freedom Download PDFInfo
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- CN101202519A CN101202519A CNA2007101340000A CN200710134000A CN101202519A CN 101202519 A CN101202519 A CN 101202519A CN A2007101340000 A CNA2007101340000 A CN A2007101340000A CN 200710134000 A CN200710134000 A CN 200710134000A CN 101202519 A CN101202519 A CN 101202519A
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- piezoelectric ceramic
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- 238000002604 ultrasonography Methods 0.000 title claims description 19
- 239000000919 ceramic Substances 0.000 claims abstract description 14
- 230000010287 polarization Effects 0.000 claims abstract description 5
- 230000001105 regulatory effect Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 24
- 230000003287 optical effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 239000004484 Briquette Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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Abstract
The invention provides a two-DOF ultrasonic motor, belonging to the ultrasonic motor field. The invention consists of a vibrator component, a base component and a bracket component. The vibration component consists of arch-shaped vibrators which are orthogonal and symmetrical and eight unidirectional polarization piezoelectric ceramic pieces; the base component consists of a pressing block with a sphere contact surface, a base and a spring element; the arch-shaped vibrators and a cross universal joint device are connected with each other by brackets and supporting rods. The pre-pressure which is required between the arch-shaped vibrators and the pressing block is provided by the spring element between the pressing block and the base. The eight piezoelectric ceramic pieces are respectively driven to lead the driving head of the arch-shaped vibrators to generate an ellipse motion; under a certain pre-pressure, the arch-shaped vibrators motion along the sphere surface contacted with a jacking block. By shifting driving signals, the motor can implement the motion of two DOF. The motor has the advantages of small volume, large thrust, light weight, high precision, fast response, etc. The invention can be applied to precise mechanical equipments and optical instruments and equipments.
Description
Technical field:
Ultrasound electric machine with two degrees of freedom of the present invention belongs to the ultrasound electric machine field.
Background technology:
Ultrasound electric machine is a kind of inverse piezoelectric effect of utilizing piezoelectric, excites elastomer to produce micro breadth oscillation in supersonic range, and converts thereof into the New-type electric machine of revolution (straight line) motion of rotor (mover) by the friction between the stator and rotor.Divide by number of degrees of freedom,, can be divided into two kinds of single-degree-of-freedom and multiple degrees of freedoms.Develop into today, varied novel multiple freedom degrees ultrasound motor occurred or utilized a plurality of single-degree-of-freedom ultrasound electric machines to realize multivariant mechanism.But for single stator multiple freedom degrees ultrasound motor, be mostly to realize the motion of rotation, seldom for the research that can realize rotatablely moving and can realize straight-line single stator multiple freedom degrees ultrasound motor.
Summary of the invention:
The present invention is intended to develop a kind of simple in structure, high thrust, efficient height, response speed is fast, range of application is wider ultrasound electric machine with two degrees of freedom.
Ultrasound electric machine with two degrees of freedom of the present invention be the simple oscialltor structure as moving cell, utilize intercoupling of elastomeric flexural vibration mode to be used for realizing the elliptic motion of driving head, by the effect of frictional force, Motion Transmission is gone out.
Ultrasound electric machine with two degrees of freedom of the present invention is made of vibrator component, base assembly and bracket component.Vibrator component is that the piezoelectric ceramic piece of an ortho-symmetric arch oscillator and 8 unidirectional polarization is formed, and the piezoelectric ceramic piece of 8 unidirectional polarization is bonded at respectively on the outside of four rectangular column legs of arch oscillator; Base assembly is that briquetting, base and a flexible member that has ball type of contact surface formed; Bracket component comprises pole, support and cross universal regulating device; Fix the arch oscillator by support, and adopt the bolt on the support that arch oscillator and a cross universal regulating device are combined.Provide required precompression between arch oscillator and the briquetting by the spring element between briquetting and the pedestal.Respectively 8 piezoelectric ceramic pieces are applied certain voltage signal and drive, can on the driving head of arch oscillator, produce elliptic motion,, can realize the motion of two degrees of freedom by switching drive signal.
When behind input drive signal on one group of piezoelectric ceramic piece on the arch oscillator left-right symmetric rectangular column leg side, can in the yoz plane, inspire the elliptic motion on the arch oscillator driving head.Equally, after input drives the signal of telecommunication on one group of piezoelectric ceramic piece on the symmetrical rectangular column leg side before and after the arch oscillator, can in the xoz plane, inspire the elliptic motion on the arch oscillator driving head.Behind while input drive signal on the piezoelectric ceramic piece on all the rectangle cylinders at the arch oscillator, can on arch oscillator driving head, produce the motion of shaking the head.
This kind ultrasound electric machine with two degrees of freedom adopts the acting in conjunction of the bending vibration modes of four rectangle pillars on the arch oscillator except that the general characteristic with ultrasound electric machine, obtain the elliptic motion of driving head.This motor adopts single oscillator to drive as mover, can realize the forward and reverse motion of both direction, its compact conformation, is easy to miniaturization, makes motor have more wide application space.
Description of drawings:
Fig. 1 is the ultrasound electric machine with two degrees of freedom structural representation.
Fig. 2 is ultrasound electric machine with two degrees of freedom arch oscillator and briquette structure schematic diagram.
Fig. 3 is the supporting structure schematic diagram.
Fig. 4 is that the drive signal that encourages the arch oscillator to produce required vibration applies the mode schematic diagram.
Fig. 5 is that the arch oscillator makes arch oscillator driving head produce the view of counterclockwise elliptic motion under voltage signal drives.Wherein, I～IV is 4 view of arch oscillator in the one-period process.
Label title among Fig. 1, Fig. 2: 1 pole, 2 supports, 3 piezoelectric ceramic pieces, 4 arch oscillators, 5 briquettings, 6 bases, 7 spring elements, 8 bolts, 9 nuts, 10 cross universal regulating devices.
Label title among Fig. 4: 11,12,13,14 is arch oscillator driving signal input.
Embodiment:
Specify the operation principle and the embodiment of ultrasound electric machine with two degrees of freedom below.
As shown in Figure 1 and Figure 2, ultrasound electric machine with two degrees of freedom of the present invention is made of vibrator component, base assembly and bracket component.Described vibrator component is to have the arch oscillator 4 of quadrature symmetry domes and the piezoelectric ceramic piece 3 of 8 unidirectional polarization is formed, and 8 piezoelectric ceramic pieces 3 stick on respectively on the lateral surface of four rectangular column legs of arch oscillator 4; Described base assembly is made up of briquetting 5, base 6 and flexible member 7, and spring element 7 is contained between briquetting 5 and the pedestal 6, so that the precompression between arch oscillator 4 and the briquetting 5 to be provided; Described bracket component comprises support 2, pole 1 and cross universal regulating device 10 compositions, by bolt arch oscillator 4 and support 2 is fixed together, and by pole 1 support 2 is linked together with cross universal regulating device 10 again.Respectively 8 piezoelectric ceramic pieces 3 being applied certain voltage signal drives, can on the driving head of arch oscillator 4, produce elliptic motion, under the effect of certain precompression, arch oscillator 4 driving heads move along the spherical surface of briquetting 5, by switching drive signal, can realize the motion of two degrees of freedom.
Fig. 3 is the supporting structure schematic diagram, by model analysis to the arch oscillator, four rectangular column legs of arch oscillator curved shake the design of node place processed one can fixing unit easy to setup, as shown in Figure 2, by this mechanism, adopt bolt that stator is fixed on the support, and then oscillator and cross universal regulating device are linked together by pole.
As shown in Figure 4, when importing E=-Vsin ω t and E=-Vcos ω t drive signal respectively in arch oscillator driving signal input 11 and 12, the driving head of arch oscillator can produce the elliptic motion in the yoz plane, under the effect of certain precompression, can promote the arch oscillator along the swing of the ball type of contact surface of briquetting around the x axle.
As shown in Figure 4, when arch oscillator driving signal input 13 and 14 is imported E=-Vsin ω t and E=-Vcos ω t drive signal respectively, the driving head of arch oscillator can produce the elliptic motion in the xoz plane, under the effect of certain precompression, can promote the arch oscillator along the swing of the ball type of contact surface of briquetting around the y axle.
Wherein: V is a magnitude of voltage; ω is the operation mode frequency of arch oscillator; T is the time.
As shown in Figure 5, be when arch oscillator driving signal input 11 and 12 is imported E=-Vsin ω t and E=-Vcos ω t drive signal respectively in by Fig. 4,4 states of arch oscillator in one-period.Fig. 5 (I) is certain state constantly, and arch oscillator left side post leg is in curved poised state of shaking, and the post leg on right side is in aduncate peak swing place, thereby makes arch oscillator driving head be in the maximum deflection state in left side.Along with the propelling of time, the movement locus of driving head, state shown in experience Fig. 5 (II), Fig. 5 (III), Fig. 5 (IV) is finished one-period.In this process, formed anticlockwise elliptic motion on the arch oscillator driving head.
When arch oscillator driving signal input 11 and 12 is imported E=-Vcos ω t and E=-Vsin ω t drive signal respectively in by Fig. 4, can on arch oscillator driving head, form anticlockwise elliptic motion.4 states and the Fig. 5 in one-period is similar for its arch oscillator.
Equally, press Fig. 4, when importing E=-Vsin ω t and E=-Vcos ω t drive signal respectively in arch oscillator driving signal input 13 and 14 or when arch oscillator driving signal input 13 and 14 was imported E=-Vcos ω t and E=-Vsin ω t drive signal respectively, motion state and Fig. 5 of arch oscillator driving head were similar.
Thus, when by certain precompression effect the driving head of arch oscillator with after spherical surface on the briquetting contacts, under the excitation of above-mentioned drive signal, the motion that can make the arch oscillator produce both direction connects the corresponding swing of cross universal regulating device generation thereby drive to be attached thereto.
Claims (1)
1. ultrasound electric machine with two degrees of freedom, it is characterized in that, comprise vibrator component, base assembly and bracket component, described vibrator component is that the piezoelectric ceramic piece (3) with the arch oscillator (4) of quadrature symmetrical structure and 8 unidirectional polarization is formed, and 8 piezoelectric ceramic pieces (3) stick on respectively on the lateral surface of four rectangular column legs of arch oscillator (4); Described base assembly is made up of briquetting (5), base (6) and flexible member (7), and spring element (7) is contained between briquetting (5) and the pedestal (6), so that the precompression between arch oscillator (4) and the briquetting (5) to be provided; Described bracket component comprises support (2), pole (1) and cross universal regulating device (10) composition, by bolt arch oscillator (4) and support (2) are fixed together, by pole (1) support (2) are linked together with cross universal regulating device (10) again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101340000A CN101202519B (en) | 2007-10-17 | 2007-10-17 | Ultrasound electric machine with two degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101340000A CN101202519B (en) | 2007-10-17 | 2007-10-17 | Ultrasound electric machine with two degrees of freedom |
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| Publication Number | Publication Date |
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| CN101202519A true CN101202519A (en) | 2008-06-18 |
| CN101202519B CN101202519B (en) | 2010-12-08 |
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| CN2007101340000A Expired - Fee Related CN101202519B (en) | 2007-10-17 | 2007-10-17 | Ultrasound electric machine with two degrees of freedom |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102142790A (en) * | 2011-04-14 | 2011-08-03 | 天津大学 | Method for exciting rotary ultrasonic motor |
| CN103607135A (en) * | 2013-10-29 | 2014-02-26 | 南京航空航天大学 | Two-degree-of-freedom rotation holder |
| CN104467521A (en) * | 2014-12-11 | 2015-03-25 | 南京航空航天大学 | Double-oscillator standing wave ultrasonic motor and excitation method thereof |
| CN104506076A (en) * | 2014-11-28 | 2015-04-08 | 南京航空航天大学 | Disc-shaped two-degree-of-freedom ultrasonic motor |
| CN104578900A (en) * | 2014-12-09 | 2015-04-29 | 南京航空航天大学 | Coordinated driving type multi degree-of-freedom ultrasonic motor based on spherical hinge structure and working method of motor |
| CN108705329A (en) * | 2018-08-22 | 2018-10-26 | 金陵科技学院 | Precision stage based on two degrees of freedom piezoelectric actuator and corresponding piezoelectric actuator |
| CN111030502A (en) * | 2019-12-24 | 2020-04-17 | 上海大学 | Tuning fork type double-foot linear piezoelectric motor |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2766387B2 (en) * | 1990-08-24 | 1998-06-18 | アルプス電気株式会社 | Method of manufacturing friction material and ultrasonic motor using the friction material |
| CN1320290C (en) * | 2004-10-11 | 2007-06-06 | 北京航空航天大学 | Six freedom super magnetostrictive active vibration control platform |
| CN101022255B (en) * | 2007-01-19 | 2010-05-26 | 浙江大学 | Two-dimensional rotary remote operating method for micro structural components |
-
2007
- 2007-10-17 CN CN2007101340000A patent/CN101202519B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102142790A (en) * | 2011-04-14 | 2011-08-03 | 天津大学 | Method for exciting rotary ultrasonic motor |
| CN102142790B (en) * | 2011-04-14 | 2013-11-06 | 天津大学 | Method for exciting rotary ultrasonic motor |
| CN103607135A (en) * | 2013-10-29 | 2014-02-26 | 南京航空航天大学 | Two-degree-of-freedom rotation holder |
| CN103607135B (en) * | 2013-10-29 | 2016-06-29 | 南京航空航天大学 | A kind of Two-degree-of-freedorotation rotation holder |
| CN104506076A (en) * | 2014-11-28 | 2015-04-08 | 南京航空航天大学 | Disc-shaped two-degree-of-freedom ultrasonic motor |
| CN104578900A (en) * | 2014-12-09 | 2015-04-29 | 南京航空航天大学 | Coordinated driving type multi degree-of-freedom ultrasonic motor based on spherical hinge structure and working method of motor |
| CN104467521A (en) * | 2014-12-11 | 2015-03-25 | 南京航空航天大学 | Double-oscillator standing wave ultrasonic motor and excitation method thereof |
| CN108705329A (en) * | 2018-08-22 | 2018-10-26 | 金陵科技学院 | Precision stage based on two degrees of freedom piezoelectric actuator and corresponding piezoelectric actuator |
| CN108705329B (en) * | 2018-08-22 | 2023-08-22 | 金陵科技学院 | Precision workbench based on two-degree-of-freedom piezoelectric actuator and corresponding piezoelectric actuator |
| CN111030502A (en) * | 2019-12-24 | 2020-04-17 | 上海大学 | Tuning fork type double-foot linear piezoelectric motor |
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| CN101202519B (en) | 2010-12-08 |
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Owner name: NANJING WANNA ULTRASONIC MOTOR CO., LTD. Free format text: FORMER OWNER: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS Effective date: 20130821 |
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Effective date of registration: 20141021 Address after: Liuhe District of Nanjing City, Jiangsu province 211514 Dong Gou Zhen Fu Qian Jie No. 1 Patentee after: Jiangsu Fengke Utrasonic Motors Technology Co., Ltd. Address before: 210019 Xincheng Science Park, Jianye District, Jiangsu, Nanjing 5108 Patentee before: Nanjing Wanma Ultrasonic Motors Co.,Ltd. |
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