CN101588144A - Coaxial parallel type double stator double rotor ultrasonic motor - Google Patents
Coaxial parallel type double stator double rotor ultrasonic motor Download PDFInfo
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- CN101588144A CN101588144A CNA2009100334162A CN200910033416A CN101588144A CN 101588144 A CN101588144 A CN 101588144A CN A2009100334162 A CNA2009100334162 A CN A2009100334162A CN 200910033416 A CN200910033416 A CN 200910033416A CN 101588144 A CN101588144 A CN 101588144A
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Abstract
Coaxial parallel type double stator double rotor ultrasonic motor, comprise a rotating shaft, two stators and two rotors, and install and fix base and end cap, this motor is laterally zygomorphic structure, the end cap (8) on top and the base (5) of bottom are passed in rotating shaft (11), wherein: base (5) internal fixation in the bottom has first stator (3), be provided with first friction material (2) in first stator (3) outside, be provided with first piezoelectric ceramic (4) in first stator (3) inboard, centre first tie spacer (7) of the first rotor (1) is fixed in the rotating shaft (11); End cap (8) internal fixation on top has second stator (3 '), be provided with second friction material (2 ') in second stator (the 3 ') outside, the inboard is provided with second piezoelectric ceramic (4 '), and centre second tie spacer (7 ') of second rotor (1 ') is fixed in the rotating shaft (11).
Description
Technical field
The present invention is a kind of circular row wave mode supersonic motor, belongs to the technical field that supersonic motor is made.
Background technology
Supersonic motor is a kind of motor with brand-new drive principle, compares with the traditional electrical magneto, and supersonic motor does not re-use coil, adopts the coupling that rubs between piezoelectric ceramic inverse piezoelectric effect and rotor to finish motor is exported energy from the electric energy to the torque conversion.Therefore the relative electromagnetic machine of supersonic motor has that response is fast, low speed high torque, nothing input self-locking, is not subjected to advantage such as electromagnetic interference.
The traveling-wave ultrasonic motor utilization be bending-flexural vibration mode, the contact between stator and rotor is partial face contact, stator promotes the rotor rotation continuously, greatly reduces the wearing and tearing of stator and rotor contact interface, the transmission efficiency height.But,, make that the output torque is less owing to be local contact between the stator and rotor of traveling-wave ultrasonic motor.
The response that has supersonic motor is fast because circular row wave mode supersonic motor removes, low speed high torque, nothing input self-locking, be not subjected to the advantage such as electromagnetic interference, also have the life-span grow, the transmission efficiency advantages of higher, so have extremely wide application prospect.But its working method is the part contact that utilizes between the stator and rotor, allows stator promote the rotor rotation continuously, makes that its output torque is less.How to guarantee on the impregnable basis of the circular row various advantages of wave mode supersonic motor that improve its output torque is the focus that this field is paid close attention to always.
Traditional circular row wave mode supersonic motor is in order to improve its output torque, and the most frequently used method is to increase the diameter of motor and the axial compressive force of motor.In fact the diameter that increases motor is exactly the contact-making surface that has increased motor, thereby has improved the output torque of motor.But, so, can not be used generally speaking with regard to having increased the volume of motor greatly yet.The axial compressive force of expanded motor, the output torque that can improve motor equally, still along with the increase of axial compressive force, the frictional dissipation of motor also can correspondingly increase, and causes the life-span of motor to reduce.
Except that above two kinds of common methods, also have many methods that realize increasing the output torque by the change electric machine structure.As a kind of circular row wave mode supersonic motor of double cog structure, place two rotors in the stator both sides, the friction by stator and its both sides rotor provides the output torque.Because all there is CONTACT WITH FRICTION on the two sides of stator with rotor, thereby has increased contact-making surface, has improved the output torque of motor.But, in this structure, employing be that rotor is motionless, and the stator rotation mode of bonding piezoelectric ceramic, so bonding piezoelectric ceramic need will drive signal of telecommunication introducing by brush on the stator, greatly reduce the reliability of machine operation.Another two stator ring traveling-wave ultrasonic motor has adopted the mode of a rotor of two stator clamp, promotes the rotor rotation by stator by CONTACT WITH FRICTION, and two stators are common to promote a rotor owing to have, and therefore will increase the output torque of motor; But two stators promote a rotor simultaneously, can make the vibration of two stators stack take place or cancel each other the operating efficiency of reduction motor.Also have a kind of operational mode that two motors is coupled together by flexible coupling, two motors connect by flexible shaft, drive same axis jointly, with the output torque that increases on the motor shaft; But owing to what use between two motors is that flexible coupling connects, and the situation of decentraction will appear in the axle of two motors, makes the radial vibration of motor increase, and has reduced the stability of machine operation.
Summary of the invention
Technical problem: the objective of the invention is to overcome above shortcoming, provide that a kind of volume is little, moment is big, efficient is high, the life-span is long, coaxial parallel type travelling-wave type double stator double rotor ultrasonic motor that can reliable and stable work.The present invention uses the driving power of traditional traveling-wave ultrasonic motor to provide driving voltage for the piezoelectric ceramic on two stators with parallel way, do not increasing on the motor diameter basis, utilize the consistency and the optimized choice of machine components processing, guarantee two stator performance unanimities, by the work of two coaxial cover stator and rotor, guarantee when improving the output torque that its life-span, efficient, reliability and stability are unaffected.
Technical scheme: the present invention is a kind of coaxial parallel type double stator double rotor ultrasonic motor, comprise a rotating shaft, two stators and two rotors, and install and fix base and end cap, it is characterized in that this motor is laterally zygomorphic structure, the end cap on top and the base of bottom are passed in rotating shaft, wherein: the base internal fixation in the bottom has first stator, be provided with first friction material in first stator outside, be provided with first piezoelectric ceramic in the first stator inboard, centre first tie spacer of the first rotor is fixed in the rotating shaft; End cap internal fixation on top has second stator, is provided with second friction material in second stator outside, and the inboard is provided with second piezoelectric ceramic, and centre second tie spacer of second rotor is fixed in the rotating shaft.
Described first piezoelectric ceramic, second piezoelectric ceramic adopt the driving in parallel of same power supply.
Described rotating shaft is clamped it by clutch shaft bearing on the base that is fixed on the bottom and second bearing on the end cap that is fixed on top, improves motor shaft to the vibration and shock resistant ability.
Beneficial effect: a kind of coaxial parallel type double stator double rotor ultrasonic motor provided by the invention neither needs shaft joint, does not also need electric brush slip ring.It has been eliminated the motor that is brought by shaft joint and has radially slided, and then has reduced the vibration of motor.Its use coaxial, two overlap independently stator and rotor, compare with the circular row wave mode supersonic motor of standard, on driving power, motor diameter, efficient, life-span, reliability and stability basis of invariable, volume increases less than 20%, and output torque can double in the ideal case.
Motor of the present invention is by changing the structure of axle, and its axial vibration and shock resistant ability obtains obviously to improve.
This motor base is provided with fixing hole, and wire hole is arranged on the end cap, can easily motor be fixed on the position to be installed under the situation that does not influence the motor operation, and obtain the lead-in wire connected mode of simple and fast.From the rotating shaft that base and end cap stretch out, make motor when driving load, can simply rotation situation be exported by transducer fast.
Description of drawings
Fig. 1 is an assembly structure figure of the present invention.
Fig. 2 is overall structure figure of the present invention.
Have among the following figure: the first rotor 1, second rotor 1 ', first friction material 2, second friction material 2 ', first stator 3, second stator 3 ', first piezoelectric ceramic 4, second piezoelectric ceramic 4 ', the base 5 of bottom, first tie spacer 7, second tie spacer 7 ', the end cap 8 on top, clutch shaft bearing 10, second bearing 10 ', rotating shaft 11, wire hole 13, fixing hole 15; Fixed screw 6,9,12,14.
Embodiment
Symmetrically arranged identical two cover line stators and rotors are arranged on the axle of motor.The consistency by machine components processing and the mode of optimized choice guarantee the consistency of stator structure, thereby use a traditional driving power just to realize the operate as normal of this motor, and the output torque under the perfect condition is doubled on the basis of conventional motors, the life-span that also guarantees motor does not shorten simultaneously, and reliability and stability are unaffected.
This motor is by rotor, friction material, and stator, piezoelectric ceramic, base, end cap, bearing, axle, tie spacer, fixed screw, and wire hole and fixing hole combine.
Stator and bearing are separately fixed on base and the end cap by screw.Wherein, piezoelectric ceramic is bonded on the disc of stator according to certain rule, and stator can be vibrated under certain range of excitation on request; Friction material is bonded on the stator disc that joins with rotor, the frictional dissipation that brings during with the minimizing rotor rotation.And the coaxial independently stator and rotor sructure of two covers has guaranteed that not only the useful life of motor is unaffected, also makes the radial stability of motor be guaranteed.
Rotor and between centers stretch out from base and end cap via bearing after assembling with fixed screw, will export from the torque that the stator and rotor CONTACT WITH FRICTION obtains, and the axle of base one end is used to drive load, and the axle of end cap one end is used for directly connecting transducer.By change, make it to be stuck between the bearing of base and end cap to bearing arrangement.To the axial vibration that adds, the rotating shaft of this motor does not produce axial displacement, thereby improves motor shaft to the vibration and shock resistant ability.
Utilize the driving power of traditional traveling-wave ultrasonic motor, under the prerequisite that does not increase power supply, provide driving voltage for the piezoelectric ceramic on two stators, simplified the type of drive of motor by parallel way.
A kind of coaxial parallel type double stator double rotor ultrasonic motor that the present invention proposes, drive two cover stators by same power supply with parallel way, two rotors are connected output drive strength square on the same axis, make this motor on driving power, diameter and life-span basis of invariable, by the volume that increases slightly, will export torque and be doubled in theory.
The rotating shaft of tradition traveling-wave ultrasonic motor is unfixing in the axial direction, makes that its axial vibration and shock resistant ability is relatively poor, and the present invention has improved the axial vibration and shock resistant ability of motor by the redesign to axle and bearing.
Rotating shaft of the present invention has designed two outputs, and one is used to drive load, and another is used for directly linking to each other with transducer, simplifies test mode.In stator and rotor contact portion, designed friction material bonding, to reduce frictional dissipation to each other, improve the useful life of motor.Adopt screw to fixedly mount, make the motor assembling simple and reliable.
The process of making is specific as follows:
Two rotors and between centers are installed together with fixed screw, constitute the part that motor rotates.Wherein, a notched end is as output torque bringing onto load on the axle, and a unnotched end is as tachometric survey.For reducing the contact friction loss between stator and rotor, on stator with the contacted part adhesive friction of rotor material; Deviating from stickup circular ring type piezoelectric ceramic on another disc of rotor on the stator, and drawing control line, making that stator can vibrate according to predetermined way after signal of telecommunication input, to drive the rotor rotation, the output torque.Two stators of bonding friction material, piezoelectric ceramic and lead-out wire are separately fixed on base and the end cap by fixed screw.Simultaneously, two bearings also are separately fixed on base and the end cap by fixed screw.At last, the rotating part of motor is placed between base and end cap and two bearings, and base and end cap is fixed together with fixed screw.
The rotating shaft of motor is via the bearing on end cap and the base and their cooperatings, to reduce the friction between axle and base and the end cap.The lead-out wire of piezoelectric ceramic is drawn by the wire hole on the end cap, to make things convenient for the input of drive control signal.Designed the fixed installation hole on the base of motor, so that motor installs and fixes.
The driving power of motor adopts the driving power of traditional traveling-wave ultrasonic motor, adopts parallel way to provide driving voltage to the piezoelectric ceramic on two stators.
Claims (3)
1, a kind of coaxial parallel type double stator double rotor ultrasonic motor, comprise a rotating shaft, two stators and two rotors, and install and fix base and end cap, it is characterized in that this motor is laterally zygomorphic structure, the end cap (8) on top and the base (5) of bottom are passed in rotating shaft (11), wherein: base (5) internal fixation in the bottom has first stator (3), be provided with first friction material (2) in first stator (3) outside, be provided with first piezoelectric ceramic (4) in first stator (3) inboard, centre first tie spacer (7) of the first rotor (1) is fixed in the rotating shaft (11); End cap (8) internal fixation on top has second stator (3 '), be provided with second friction material (2 ') in second stator (the 3 ') outside, the inboard is provided with second piezoelectric ceramic (4 '), and centre second tie spacer (7 ') of second rotor (1 ') is fixed in the rotating shaft (11).
2, coaxial parallel type double stator double rotor ultrasonic motor according to claim 1 is characterized in that described first piezoelectric ceramic (4), second piezoelectric ceramic (4 ') adopt the driving in parallel of same power supply.
3, coaxial parallel type double stator double rotor ultrasonic motor according to claim 1, it is characterized in that: described rotating shaft (11) is clamped it by the clutch shaft bearing (10) on the base that is fixed on the bottom (5) and second bearing (10 ') that is fixed on the end cap (8) on top, improves motor shaft to the vibration and shock resistant ability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100334162A CN101588144B (en) | 2009-06-19 | 2009-06-19 | Coaxial parallel type double stator double rotor ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100334162A CN101588144B (en) | 2009-06-19 | 2009-06-19 | Coaxial parallel type double stator double rotor ultrasonic motor |
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| Publication Number | Publication Date |
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| CN101588144A true CN101588144A (en) | 2009-11-25 |
| CN101588144B CN101588144B (en) | 2010-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100334162A Expired - Fee Related CN101588144B (en) | 2009-06-19 | 2009-06-19 | Coaxial parallel type double stator double rotor ultrasonic motor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104734561A (en) * | 2015-04-03 | 2015-06-24 | 东南大学 | Elastic blade type parallel ultrasonic motor |
| CN106911263A (en) * | 2015-12-23 | 2017-06-30 | 上海交通大学 | Multiaxis piezoelectric micro motor |
| CN110601476A (en) * | 2019-09-17 | 2019-12-20 | 淮阴工学院 | Radial magnetic field axial parallel composite motor |
| US10715019B2 (en) | 2018-05-18 | 2020-07-14 | Kohler Co. | Dual axis motor |
| CN113141126A (en) * | 2021-05-07 | 2021-07-20 | 金陵科技学院 | Three-leg rotary ultrasonic motor |
| CN113162466A (en) * | 2021-01-25 | 2021-07-23 | 南京航空航天大学 | Surface-mounted double-stator rotary ultrasonic motor and control method |
| CN113472238A (en) * | 2021-07-15 | 2021-10-01 | 东南大学 | Self-aligning bearing-free parallel type ultrasonic motor |
| CN114696656A (en) * | 2022-05-31 | 2022-07-01 | 南京航达超控科技有限公司 | Four-stator-rotor serial ultrasonic motor |
-
2009
- 2009-06-19 CN CN2009100334162A patent/CN101588144B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104734561A (en) * | 2015-04-03 | 2015-06-24 | 东南大学 | Elastic blade type parallel ultrasonic motor |
| CN106911263A (en) * | 2015-12-23 | 2017-06-30 | 上海交通大学 | Multiaxis piezoelectric micro motor |
| CN106911263B (en) * | 2015-12-23 | 2020-04-03 | 上海交通大学 | Multi-shaft piezoelectric micromotor |
| US10715019B2 (en) | 2018-05-18 | 2020-07-14 | Kohler Co. | Dual axis motor |
| CN110601476A (en) * | 2019-09-17 | 2019-12-20 | 淮阴工学院 | Radial magnetic field axial parallel composite motor |
| CN113162466A (en) * | 2021-01-25 | 2021-07-23 | 南京航空航天大学 | Surface-mounted double-stator rotary ultrasonic motor and control method |
| CN113141126A (en) * | 2021-05-07 | 2021-07-20 | 金陵科技学院 | Three-leg rotary ultrasonic motor |
| CN113472238A (en) * | 2021-07-15 | 2021-10-01 | 东南大学 | Self-aligning bearing-free parallel type ultrasonic motor |
| CN114696656A (en) * | 2022-05-31 | 2022-07-01 | 南京航达超控科技有限公司 | Four-stator-rotor serial ultrasonic motor |
| CN114696656B (en) * | 2022-05-31 | 2022-08-23 | 南京航达超控科技有限公司 | Four-stator-rotor series ultrasonic motor |
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| Publication number | Publication date |
|---|---|
| CN101588144B (en) | 2010-12-29 |
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Granted publication date: 20101229 Termination date: 20130619 |