CN101777852A - Double-stator bending mode linear ultrasonic motor and operation mode and electric excitation method - Google Patents
Double-stator bending mode linear ultrasonic motor and operation mode and electric excitation method Download PDFInfo
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- CN101777852A CN101777852A CN201010017218A CN201010017218A CN101777852A CN 101777852 A CN101777852 A CN 101777852A CN 201010017218 A CN201010017218 A CN 201010017218A CN 201010017218 A CN201010017218 A CN 201010017218A CN 101777852 A CN101777852 A CN 101777852A
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Abstract
The invention discloses a double-stator bending mode linear ultrasonic motor and an operation mode and an electric excitation method, which belong to the field of ultrasonic motors. The ultrasonic motor comprises stators and a rotor and is characterized in that: the stators are formed by butting left and right Langevin oscillators along a center line, wherein each of the Langevin oscillators consists of a front end cover (5), a rear end cover (7), a piezoelectric ceramic chip (2) and corresponding electrode plates (6), and the whole has a rod structure of which the section is a continuous section which is gradually reduced from the end part to the head part; the head parts of the left Langevin oscillator and the right Langevin oscillator are butted into a whole body to form a driving leg (3); and the rotor is a cross-shaped structure formed by arranging a linear guide rail and the stators in the same plane. For the left Langevin oscillator and the right Langevin oscillator of each stator, two oscillation modes in a orthogonal direction are simultaneously excited by using common-frequency sinusoidal signals with a phase difference of pi/2, and superposition of two oscillation modes enables each mass point on an end face of the driving leg to circularly move so as to drive the rotor continuously and linearly move.
Description
Technical field
The of the present invention pair of stator mode of flexural vibration linear ultrasonic motor and operation mode and electric excitation mode belong to the ultrasound electric machine field.
Background technology
Ultrasound electric machine is the drive unit that utilizes the outputting power of the inverse piezoelectric effect of piezoelectric ceramic and structure ultrasonic vibration.Linear type ultrasound motor belongs to a classification of ultrasound electric machine.Structure according to the linear type ultrasound motor stator is dull and stereotyped and bar (or combining structure of bar), and linear ultrasonic motor is divided into plate structure and bar structure.Though it is simple in structure for the plate structure linear ultrasonic motor, flexible design, its efficient is low, and speed is less, and power output is also little.Need have big power output, linear type ultrasound motor that efficient is high for applications such as industrial robot, Aero-Space.The patent No. is that the Chinese utility model patent of CN200810124426.2 discloses a kind of K shape (bar structure) linear ultrasonic motor, has advantages such as power output, the speed of service be big.Comprise mover and stator, it is characterized in that: described Langevin-type transducer for the bar structure, the cross section of bar is the continuous cross section shape by rear end forward end convergent; Characteristics simple in structure, that power output is big, the speed of service is fast, delivery efficiency is high that this invention has.Although this linear ultrasonic motor has above-mentioned having a few, because it has used the longitudinal vibration and curved the shaking of bar, the consistent difficult point that becomes of feasible these two frequencies of realization.
Summary of the invention
The objective of the invention is to develop a kind of small and exquisite, power output is big, the speed of service is fast, delivery efficiency is high two stator mode of flexural vibration linear ultrasonic motors and operation mode and electric excitation mode simple in structure, this motor only utilizes the flexural vibrations of structure, the problem that does not have frequency invariance makes the design of motor be more prone to.
A kind of pair of stator flexural vibrations linear ultrasonic motor, comprise stator and mover, it is characterized in that: described stator by about two Langevin-type transducers along center line mutually butt joint constitute, each Langevin-type transducer is formed by front end housing, rear end cap, piezoelectric ceramic piece and corresponding electrode slice, and whole be the cross section by afterbody to the continuous cross section of head convergent shape bar type structure, about the head butt joint of two Langevin-type transducers combine as a whole, become and drive foot; Described mover is that a straight line guide rail and said stator are arranged to " ten " font structure in a plane.
The operation mode and the electric excitation mode of above-mentioned two stator flexural vibrations linear ultrasonic motors, it is characterized in that: for two Langevin-type transducers about each stator, utilize the same frequency sinusoidal signal of phase difference pi/2 to inspire the mode of oscillation of two orthogonal directions simultaneously respectively, the stack of these two mode of oscillations makes that driving on the sufficient end face each particle produces circular motion and promote the continuous rectilinear motion of mover.
Said structure guarantees: there is not abrupt-change cross section (identical acoustic impedance is arranged) in (1) straight-bar with the continuous variable cross section bar at the interface place, can not produce reflected wave to plane sound wave; (2) the continuous variable cross section bar adopt by after convergent design forward, make it on each cross section, have identical acoustic impedance; (3) the continuous variable cross section bar adopt by after convergent design forward, also make the vibration of head of Langevin-type transducer be exaggerated; (4) stator is formed by connecting by driving foot and Langevin-type transducer continuous contraction the on joint face, also makes stator reduce in the moment of flexure that drives the foot place; (5) stator only utilizes flexural vibration mode, thereby guarantees two model frequency consistency of stator structure vibration; (6) design of two stators helps to improve the power output of motor.Therefore, design of the present invention helps to improve speed, power output and the operational efficiency of motor.This linear ultrasonic motor is simple in structure, size is little, power output is big, speed is big, efficient is high.
Said stator drives foot and is formed by connecting by two Langevin-type transducers continuous contraction on joint face, and drives the sectional area of foot portions cross-sectional area less than its peripheral rod, forms flexible the link, increases amplitude.
Said stator can have two, and geometry and physical characteristic are identical, and two stators lay respectively at above-mentioned line slideway both sides, forms series connection.The power output of two stator series connection can increasing motors improve delivery efficiency, and the increase of motor volume is few.
Description of drawings
Fig. 1, Fig. 2 are two stator flexural vibrations linear ultrasonic motor structural representations.
Fig. 3 is stator piezoelectric ceramic piece and electrode slice schematic diagram.
Number in the figure title: 1. clamping; 2. piezoelectric ceramic piece; 3. drive foot; 4. mover; 5. front end housing; 6. electrode slice; 7. rear end cap; 8. pretightning force bolt; 9. bolt; 10. precompression spring; 11. precompression bolt; 12. precompression lid.
Embodiment
A kind of pair of crooked linear ultrasonic motor of stator, comprise stator and mover, wherein mover is a straight line guide rail, stator is docked mutually along center line by two Langevin-type transducers and constitutes, each Langevin-type transducer is made up of rear end cap (straight-bar), front end housing (continuous variable cross section bar), piezoelectric ceramic piece, hex bolts and corresponding electrode slice, the head butt joint of two Langevin-type transducers combines as a whole, and becomes to drive foot; Line slideway and two Langevin-type transducers are arranged to " ten " font structure in a plane; It is characterized in that: (or unlike material) straight-bar and the continuous variable cross section bar by identical material of described Langevin-type transducer are formed, and are continuous cross section (or abrupt-change cross section, but the acoustic impedance of interface both sides is identical) at the interface of two bars.The continuous variable cross section bar present by after convergent state forward.Above-mentioned each Langevin-type transducer all has a holder between front end housing and rear end cap, each Langevin-type transducer includes 2n sheet piezoelectric ceramic piece and 2 plate electrode sheets, be divided into the n group, per two piezoelectric ceramic pieces and the 1 plate electrode sheet that is clipped in wherein constitute one group, and they are arranged in the both sides, front and back of above-mentioned holder.Be convenient to piezoelectric ceramic piece is applied electric field.
The crooked linear ultrasonic motor of a kind of pair of stator such as Fig. 1 are shown in Figure 2.Be characterized in: described stator is docked mutually by two Langevin-type transducer center lines and constitutes, and comprises rear end cap, front end housing, holder, piezoelectric ceramic piece, electrode slice, bolt.Totally 8 of piezoelectric ceramic pieces are divided into four groups, and per two piezoelectric ceramic pieces constitute one group, accompany electrode slice between every group of two piezoelectric ceramic pieces.Each group piezoelectric ceramic piece is arranged in the both sides of holder.Front end housing is equipped with screwed hole, and bolt screws in screwed hole, thereby each parts of stator are connected as a single entity.Its cross section of its front end housing by after be forward the convergent state, constitute ultrasonic amplitude transformer with the miscellaneous part that constitutes stator, in order to amplify the amplitude of motor stator head.Described mover is a draw runner.Its strutting piece is equipped with through hole, in order to stator and precompression device to be installed; Stator is connected the crooked linear ultrasonic motor of the two stators of formation in aggregates with mover.Two piezoelectric vibrators excite the mode of oscillation of two orthogonal directions of stator respectively about utilizing the same frequency sinusoidal signal of phase difference pi/2 to encourage simultaneously, each particle produces circular motion and promotes the continuous rectilinear motion of mover on the sufficient end face of the feasible driving of the stack of these two mode of oscillations, constitutes linear type ultrasound motor.When pumping signal is opposite, can realize the opposite direction rectilinear motion of mover.This motor stator is made of the Langevin-type transducer of ultrasonic amplitude transformer principle, can make to drive the bigger displacement of foot acquisition, makes motor realize that power output is bigger, speed of service height, delivery efficiency height.
Principles of structural design: 1. the inverse piezoelectric effect by piezoelectric ceramic piece excites elastomeric two mode of oscillations, because the symmetry of structure makes the vibration frequency unanimity of both direction and space quadrature pi/2.2. be two piezoelectric vibrators about two same frequency sinusoidal signals of pi/2 encourage respectively with the phase difference, excite two mode of oscillations of stator, form round track driving sufficient end face each point, drive the mover rectilinear motion.
Be the example of a crooked linear ultrasonic motor of two stators below:
Utilize the inverse piezoelectric effect d of piezoelectric ceramic piece
33Inspire two mode of oscillations of stator.Fig. 2 is the structural representation of this figure, and he mainly is made up of stator, mover.Stator is docked mutually by two Langevin-type transducer center lines and constitutes, and comprises rear end cap, front end housing, holder, piezoelectric ceramic piece, electrode slice, bolt.Totally 8 of the piezoelectric ceramic pieces of each stator are divided into four groups, and per two piezoelectric ceramic pieces constitute one group, accompany electrode slice between every group of two piezoelectric ceramic pieces.Each group piezoelectric ceramic piece is arranged in the both sides of holder.Front end housing is equipped with screwed hole, and bolt screws in screwed hole, thereby each parts of stator are connected as a single entity.Its cross section of its front end housing by after be forward the convergent state, constitute ultrasonic amplitude transformer with the miscellaneous part that constitutes stator, in order to amplify the amplitude of motor stator head.
The motor stator piezoelectric ceramic piece is laid and is seen Fig. 3.
Each stator has 8 piezoelectric ceramic pieces, and being divided into is four groups, lays respectively at both sides under the mountain of holder, and every group comprises the opposite curved piezoelectric ceramic piece that shakes of a pair of polarised direction.Electrode slice is laid in the centre of every group of piezoelectric ceramic piece, is used for external pumping signal.Provide sinusoidal excitation signal E=U sin ω t to inner two groups of piezoelectric ceramic pieces (II, III), provide cosine pumping signal E=Ucos (ω t) to give outer two groups of piezoelectric ceramic pieces (I, IV) simultaneously, encourage two mode of oscillations of stator simultaneously, the elliptic motion of the driving foot end face particle of the synthetic stator front end housing of these two mode with frequency phase difference pi/2.
Claims (5)
1. two stator flexural vibrations linear ultrasonic motor, comprise stator and mover, it is characterized in that: described stator by about two Langevin-type transducers along center line mutually butt joint constitute, each Langevin-type transducer is formed by front end housing (5), rear end cap (7), piezoelectric ceramic piece (2) and corresponding electrode slice (6), and whole be the cross section by afterbody to the continuous cross section of head convergent shape bar type structure, about the head butt joint of two Langevin-type transducers combine as a whole, become and drive foot (3); Described mover is that a straight line guide rail and said stator are arranged to " ten " font structure in a plane.
2. according to claim 1 pair of stator flexural vibrations linear ultrasonic motor, it is characterized in that: described stator drives foot and is formed by connecting by two Langevin-type transducers continuous contraction on joint face, and drive the sectional area of foot portions cross-sectional area, form flexible link less than its peripheral rod.
3. according to claim 1 pair of stator flexural vibrations linear ultrasonic motor, it is characterized in that: said stator has two, and geometry and physical characteristic are identical, and two stators lay respectively at above-mentioned line slideway both sides.
4. according to claim 1 pair of stator flexural vibrations linear ultrasonic motor, it is characterized in that: each Langevin-type transducer all has a holder between front end housing and rear end cap, each Langevin-type transducer includes 2n sheet piezoelectric ceramic piece and n plate electrode sheet, be divided into the n group, per two piezoelectric ceramic pieces and the 1 plate electrode sheet that is clipped in wherein constitute one group, and they are arranged in the both sides, front and back of above-mentioned holder.
5. the operation mode and the electric excitation mode of according to claim 1 pair of stator flexural vibrations linear ultrasonic motor is characterized in that:
For two Langevin-type transducers about each stator, utilize the same frequency sinusoidal signal of phase difference pi/2 to inspire the mode of oscillation of two orthogonal directions simultaneously respectively, the stack of these two mode of oscillations makes that driving on the sufficient end face each particle produces circular motion and promote the continuous rectilinear motion of mover.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102025287A (en) * | 2010-11-25 | 2011-04-20 | 南京航空航天大学 | Linear ultrasonic motor based on alternating force |
| CN102751904A (en) * | 2012-06-25 | 2012-10-24 | 南京航空航天大学 | Clamping device of antifriction drive-type ultrasonic motor |
| CN102751902A (en) * | 2012-06-25 | 2012-10-24 | 南京航空航天大学 | Parallel anti-friction drive-type ultrasonic motor |
| CN103758430A (en) * | 2014-01-28 | 2014-04-30 | 哈尔滨工业大学 | Piezoelectric ultrasonic vibrator driving type automobile power window |
| CN104518704A (en) * | 2015-01-09 | 2015-04-15 | 哈尔滨工业大学 | Cross-shaped symmetric beam type patch single-foot ultrasonic motor vibrator |
| CN104933211A (en) * | 2014-03-18 | 2015-09-23 | 广州汽车集团股份有限公司 | Whole car body bending mode identification method |
| CN105048862A (en) * | 2015-07-31 | 2015-11-11 | 南京航空航天大学 | Inertial linear ultrasonic motor based on bending vibration of rectangular plate |
| CN108158610A (en) * | 2018-01-16 | 2018-06-15 | 苏州国科昂卓医疗科技有限公司 | A kind of elastograph imaging method, device, equipment and ultrasound imaging probe |
-
2010
- 2010-01-05 CN CN201010017218A patent/CN101777852A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102025287A (en) * | 2010-11-25 | 2011-04-20 | 南京航空航天大学 | Linear ultrasonic motor based on alternating force |
| CN102751902B (en) * | 2012-06-25 | 2016-02-17 | 南京航空航天大学 | Parallel anti-friction drive-type ultrasonic motor |
| CN102751904A (en) * | 2012-06-25 | 2012-10-24 | 南京航空航天大学 | Clamping device of antifriction drive-type ultrasonic motor |
| CN102751902A (en) * | 2012-06-25 | 2012-10-24 | 南京航空航天大学 | Parallel anti-friction drive-type ultrasonic motor |
| CN102751904B (en) * | 2012-06-25 | 2015-03-25 | 南京航空航天大学 | Clamping device of antifriction drive-type ultrasonic motor |
| CN103758430B (en) * | 2014-01-28 | 2016-04-06 | 哈尔滨工业大学 | The driving automobile electric car-window of piezoelectric ultrasonic vibrator |
| CN103758430A (en) * | 2014-01-28 | 2014-04-30 | 哈尔滨工业大学 | Piezoelectric ultrasonic vibrator driving type automobile power window |
| CN104933211A (en) * | 2014-03-18 | 2015-09-23 | 广州汽车集团股份有限公司 | Whole car body bending mode identification method |
| CN104933211B (en) * | 2014-03-18 | 2018-03-27 | 广州汽车集团股份有限公司 | Reorganize and outfit vehicle body bending modal identification method |
| CN104518704A (en) * | 2015-01-09 | 2015-04-15 | 哈尔滨工业大学 | Cross-shaped symmetric beam type patch single-foot ultrasonic motor vibrator |
| CN105048862A (en) * | 2015-07-31 | 2015-11-11 | 南京航空航天大学 | Inertial linear ultrasonic motor based on bending vibration of rectangular plate |
| CN108158610A (en) * | 2018-01-16 | 2018-06-15 | 苏州国科昂卓医疗科技有限公司 | A kind of elastograph imaging method, device, equipment and ultrasound imaging probe |
| CN108158610B (en) * | 2018-01-16 | 2024-02-06 | 苏州国科昂卓医疗科技有限公司 | Elastic imaging method, device, equipment and ultrasonic imaging probe |
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Open date: 20100714 |