CN102055373B - Multi-rotor cylindrical high-torque ultrasonic motor - Google Patents
Multi-rotor cylindrical high-torque ultrasonic motor Download PDFInfo
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- CN102055373B CN102055373B CN 201110007074 CN201110007074A CN102055373B CN 102055373 B CN102055373 B CN 102055373B CN 201110007074 CN201110007074 CN 201110007074 CN 201110007074 A CN201110007074 A CN 201110007074A CN 102055373 B CN102055373 B CN 102055373B
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Abstract
The invention discloses a multi-rotor cylindrical high-torque ultrasonic motor in the technical field of ultrasonic application. The motor comprises a piezoelectric ceramic element, a stator, rotors and a positioning mechanism, wherein one or more rotors are sequentially and vertically arranged on the positioning mechanism and are contacted with the stator; the positioning mechanism, the rotors and the stator are coaxially arranged; and the piezoelectric ceramic element is arranged outside the stator and the rotors are arranged in the stator or the piezoelectric ceramic element is arranged in the stator and the rotors are arranged outside the stator. By taking the advantage that the thin and long cylindrical stator can stick a plurality of piezoelectric ceramics, the motor increases the energy density of vibration of the stator and improves the output torque of the stator; due to the characteristic that the angular speed of the propagation of the in-plane travelling wave on the stator is consistent, the stator drives the plurality of rotors to synchronously rotate to obtain a uniform output speed which contributes to the stable work of the motor; and the thin and long structure can be also applied in a narrow and long space.
Description
Technical field
What the present invention relates to is a kind of device of technical field of ultrasonic application, specifically a kind of many rotor cylindrical high-torque ultrasonic motors of in plane vibration.
Background technology
Supersonic motor is the inverse piezoelectric effect of utilizing piezoelectric, is electric energy conversion the vibrational energy of the stator of supersonic motor, by rubbing action vibrational energy is converted into rotation or the rectilinear motion of moving component again.Its general mainly formed by stator, rotor (mover) and pre-pressure mechanism etc.Compare with the traditional electrical magneto, supersonic motor has many characteristics and advantage, such as:
1, compact conformation, energy density (torque/quality) is large, is easy to microminiaturization.
2, low-speed and large-torque need not gear reduction, can realize direct driving.
3, motor fast response time, and can realize cutting off self-lock.
4, position and speed are controlled good, and displacement resolution is high.
5, supersonic motor carries out power conversion by the vibration friction, does not produce magnetic field in transfer process, not disturbed by external magnetic field, and anti-electromagnetic interference capability is strong.
6, quiet noiseless.Supersonic motor is operated in supersonic range, owing to do not need the reducing gear such as gear, so can quiet muting operation.
7, flexible design, the version variation.
Traveling-wave ultrasonic motor is a kind of common supersonic motor, because its compact slice-shaped structure, working stability, power obtain greatly extensive use.The operation principle of traveling-wave ultrasonic motor as shown in Figure 1, it mainly is comprised of output shaft, rotor, end cap, stator, base, piezoelectric patches.Piezoelectric patches motivates along the capable ripple vibration of circumferentially propagating at stator, by rubbing action the vibrational energy of stator matrix is converted into rotatablely moving of rotor between stator, the rotor.
In order to obtain larger output torque, people attempt adopting the structure of improving traveling-wave ultrasonic motor, have proposed single stator and double-rotor structure, structural representation as shown in Figure 2, it mainly is comprised of rotor, piezo ceramic element, friction material, stator.At stator excitation trip ripple, utilize positive and negative two drive surfaces of stator to drive the rotor running by piezoelectric ceramic.Because the vibration characteristics high conformity on stator two sides, so single stator and double-rotor structured lin wave type supersonic motor is stable fine, moment also is significantly improved.
In order further to improve output torque, the trial of a kind of pair of stator single rotor has appearred again, and its structural representation is as shown in Figure 3.It mainly is comprised of stator, rotor, piezo ceramic element, friction material.Two stators compress rotor simultaneously up and down, make up and down by stator is up and down encouraged simultaneously that two stators produce deformation simultaneously, and two stator actings in conjunction are in rotor.But because the operating frequency of two stators, rotating speed, amplitude etc. are all inconsistent, so loss is serious, and vibration efficiency is low, and the mode serious interference is difficult on the engineering realize.The method of a plurality of motors series connection exists the problems referred to above to overcome equally, and its different stator will encourage respectively, the excitation difficult of stator, and be difficult to guarantee synchronously, so output torque neither linear superposition, and unstable on the contrary, in addition less than single motor.
Microminiaturization also is a development trend of supersonic motor.How to obtain stable more high-torque, particularly at some narrow space, be not suitable for the occasion that the dish type travelling wave motor is installed, how obtaining high-torque just becomes a difficult problem.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of many rotor cylindrical high-torque ultrasonic motors are provided, the advantage of utilizing elongated tubular stator can paste more piezoelectric ceramic has increased the energy density of stator vibration, thereby has greatly improved the output torque of motor; Utilize simultaneously the consistent characteristics of angular speed that expert ripple is propagated above the stator, so that stator drives many rotor synchronous rotations, obtain unified output speed, be conducive to motor stabilizing work; Slim-lined construction also is conducive to use in long and narrow space.The novel electric motor with large torque that the present invention proposes will be conducive to expand the application of supersonic motor.
The present invention is achieved by the following technical solutions, the present invention includes: piezo ceramic element, stator, rotor and detent mechanism, wherein: one or more rotors are vertically installed in successively on the detent mechanism and with stator and contact, detent mechanism, rotor and stator are coaxial setting, and piezo ceramic element is arranged at the outside that inside that the outside of stator and inside that rotor is arranged at stator or piezo ceramic element be arranged at stator and rotor are arranged at stator.
All rotors all rotate synchronously with same angular velocity;
Symmetrical structure centered by the inwall of described stator or the outer wall, its cross section are circle or polygon, and stator is provided with the drive surfaces of several respective rotor to drive a plurality of coaxial rotor synchronous rotations.
Described rotor is disc-shaped structure or circular ring, wherein:
Be provided with elastic mechanism between the rotor of described disc-shaped structure, the shape of rotor and described drive surfaces is complementary and elastic mechanism and drive surfaces lay respectively at the both sides of arbitrary rotor.
Described elastic mechanism is stage clip;
The rotor of described circular ring is open annulus, and the two ends of this open annulus are provided with extension spring to realize that rotor is clamped on the stator.
Described detent mechanism is locating shaft or locating cover, and when rotor was arranged at the inside of stator, inside and rotor that detent mechanism is positioned at stator were fixedly installed on the detent mechanism; When rotor was arranged at stator outside, detent mechanism was positioned at the two ends of stator and contacts with rotor.
When the cross section of the inwall of stator when being circular, then piezo ceramic element is arranged at the outer wall of stator in the stator shaft orientation mode; When the cross section of the outer wall of stator when being circular, then piezo ceramic element is arranged at the inwall of stator in the stator shaft orientation mode.
Piezoelectric ceramic is arranged on the stator in the stator shaft orientation mode, can motivate as shown in Figure 5 the vibration shape at stator, be that particle vibration is two-dimension vibration on the stator, do not have vibration vertically, namely on the described stator oscillation trajectory of particle always in the plane perpendicular to axis at its place.
Characteristics of the present invention and effect: the present invention has increased the energy density of stator vibration, has improved the output torque of motor; Stator drives many rotor synchronous rotations, and machine operation is stable; Slim-lined construction also is conducive to use in long and narrow space.The novel electric motor with large torque that the present invention proposes will be conducive to expand the application of supersonic motor, have broad application prospects at aspects such as biology, medical treatment, micromechanics, science and techniques of defence.
Description of drawings
The common traveling-wave ultrasonic motor structure principle chart of Fig. 1
Wherein: 11 is that output shaft, 12 is that rotor, 13 is that end cap, 14 is that stator, 15 is that base, 16 is piezoelectric patches.
Fig. 2 list stator and double-rotor traveling-wave ultrasonic motor structure principle chart
Wherein: 21 is that rotor, 22 is that piezo ceramic element, 23 is that friction material, 24 is stator.
The two stator single rotor traveling-wave ultrasonic motor structure principle charts of Fig. 3
Wherein: 31 is that stator, 32 is that rotor, 33 is that ceramic component, 34 is friction material.
Fig. 4 is structural representation of the present invention.
Wherein: 41 is that piezo ceramic element, 42 is that stator, 43 is that rotor, 44 is that detent mechanism, 45 is that elastic mechanism, 46 is that output shaft and 47 is the stator drive surfaces.
Fig. 5 is embodiment 1 in plane vibration Mode Shape schematic diagram;
Wherein: n=2 represents second-order in plane vibration mode, and n=3 represents the 3rd terrace internal vibration mode, and n=4 represents the 4th terrace internal vibration mode.
The bonding way schematic diagram of many rotors of Fig. 6 high-torque cylindrical shape supersonic motor embodiment 1,2 piezoelectric ceramic.
Wherein: 61,62,63,64,65,66,67,68 is piezo ceramic element, and 69 is the stator elastomer, and 610 is the trapezoid boss of stator interior.
Fig. 7 is embodiment 2 structural representations.
Wherein: 71 is that piezo ceramic element, 72 is that groove stator, 73 is that rotor, 74 is that leaf spring, 75 is that holddown spring, 76 is rotating shaft.
Many rotors of Fig. 8 high-torque cylindrical shape supersonic motor embodiment 3 structural representations.
Wherein: 81 is that stiff end, 82 is that rotor, 83 is that stator convex platform, 84 is that stator, 85 is piezo ceramic element.
The bonding way schematic diagram of many rotors of Fig. 9 high-torque cylindrical shape supersonic motor embodiment 3 piezoelectric ceramic.
Wherein: 91,92,93,94,95,96,97,98 piezoelectric ceramic, 99 is rotor, 910 is the stator matrix.
Many rotors of Figure 10 high-torque cylindrical shape supersonic motor embodiment 3 rotor structure schematic diagrames.
Embodiment
The below elaborates to embodiments of the invention, and present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 4, present embodiment comprises: piezo ceramic element 41, stator 42, rotor 43 and detent mechanism 44.Wherein: one or more rotors 43 are vertically installed in successively on the detent mechanism 44 and with stator 42 and contact, detent mechanism 44, rotor 43 and stator 42 are coaxial setting, and piezo ceramic element 41 is arranged at the outside of stator 42 and the inside that rotor 43 is arranged at stator 42.
The inwall of described stator 42 is circular, and the outer wall of stator 42 is polygon, and stator 42 is provided with the drive surfaces 47 of several respective rotor 43 to drive a plurality of coaxial rotor 43 synchronous rotaries.
Described piezo ceramic element 41 is the tabular structure of strip, the through-thickness polarization, and piezo ceramic element 41 is arranged at the outer wall of stator 42 with stator 42 axial manner;
Described detent mechanism 44 is locating shaft, and inside and rotor 43 that detent mechanism 44 is positioned at stator 42 are fixedly installed on the locating shaft by key and elastic mechanism.
Described rotor 43 is disc-shaped structure, wherein:
Be provided with elastic mechanism 45 between the rotor 43 of described disc-shaped structure, the shape of rotor 43 and described drive surfaces 47 is complementary and elastic mechanism 45 and drive surfaces 47 lay respectively at the both sides of arbitrary rotor 43.
Described elastic mechanism 45 is stage clip;
As shown in Figure 5, be the 2nd, 3,4 terrace internal vibration Mode Shape schematic diagrames of stator.N=2 is expressed as the vibration shape of the 2nd terrace internal vibration mode.But when the piezo ceramic element at stator apply two same frequency phase differences be 90 the degree the driving signal time, two standing waves that all differ 90 degree on time and the space can inspired on the stator simultaneously, two standing waves synthetic one along the capable ripple that rotates in a circumferential direction, thereby so that on the stator movement locus of the particle on the drive surfaces be ellipse.The elliptic motion of particle is so that stator drives rotor contacted with it just.Because the angular velocity of rotation along the capable ripple that rotates in a circumferential direction on the stator is identical, even thereby the radius of a plurality of rotors different, stator is still identical to the angular speed that these rotors drive, this is with regard to so that the output torque of many rotors is able to effective stack.
In order to obtain the capable ripple vibration of certain single order at stator, need stickup and the motivational techniques of design pottery.As shown in Figure 6, be the motivational techniques of the 2nd terrace internal vibration row ripple.8 piezoelectric ceramic pieces stick on the outer prismatic surface of stator.During stickup, if piezoelectric ceramic piece 61,63,65,67 polarised direction is identical with the method direction of pasting the plane, piezoelectric ceramic piece 62,64,66,68 polarised direction is when pasting the method opposite direction on plane, then 61,63,65,67 add sin ω t pumping signal, and 62,64,66,68 add Acos ω t pumping signal, if all the same direction of piezoelectric patches is pasted, piezoelectric ceramic piece 61,62,63,64,65,66,67,68 add pumping signal Asin ω t successively, Acos ω t ,-Asin ω t ,-Acos ω t, Asin ω t, Acos ω t ,-Asin ω t ,-Acos ω t.
When adopting the 2nd terrace internal vibration row ripple, piezo ceramic element stickup side can be 6 sides or other numerical value on the said stator, just corresponding different energisation modes.When adopting 6 sides, if the mode that the piezoelectric ceramic polarised direction is identical with sticking veneer method direction is pasted, 6 piezoelectric ceramic pieces should add pumping signal Asin ω t successively, Asin (ω t+2 π/3), Asin (ω t+4 π/3), Asin ω t, Asin (ω t+2 π/3), Asin (ω t+4 π/3) at this moment, will motivate the expert ripple of 2 terraces at stator.If piezoelectric ceramic is wherein arranged by the relation of polarised direction and adhesive surface method direction, when pasting with original opposite mode, its corresponding pumping signal also becomes opposite signal.
When adopting the 3rd terrace internal vibration row ripple, piezo ceramic element stickup side can be 9 sides or 12 sides or other numerical value, corresponding different energisation modes on the said stator.When adopting 9 sides, if piezoelectric ceramic is pasted by the polarised direction mode identical with adhesive surface method direction, 9 piezoelectric ceramic pieces are plus signal Asin ω t successively, Asin (ω t+2 π/3), Asin (ω t+4 π/3), Asin ω t, Asin (ω t+2 π/3), Asin (ω t+4 π/3), Asin ω t, Asin (ω t+2 π/3), Asin (ω t+4 π/3), at this moment, will motivate the expert ripple of 3 terraces at stator.When adopting 12 side, if piezoelectric ceramic is pasted by the polarised direction mode identical with adhesive surface method direction, 12 piezoelectric ceramic pieces are plus signal Asin ω t successively, Acos ω t ,-Asin ω t ,-Acos ω t, Asin ω t, Acos ω t ,-Asin ω t ,-Acos ω t, Asin ω t, Acos ω t ,-Asin ω t ,-Acos ω t.To motivate the expert ripple of 3 terraces this moment at stator.Equally, if piezoelectric ceramic is wherein arranged by the relation of polarised direction and adhesive surface method direction, when pasting with original opposite mode, its corresponding pumping signal also becomes opposite signal.The energisation mode of high order mode therewith roughly the same.
As shown in Figure 7, in the present embodiment: described many rotor ultrasonic motors with the contact of step stator medial surface comprise 71 piezo ceramic elements, 72 groove stators, 73 rotors, 74 leaf springs, 75 holddown springs, 76 rotating shafts.Be with flutedly on the polygon prism outer surface of cylindrical stator, the piezo ceramic element segmentation is pasted.Piezo ceramic element can be pasted in plane in the groove, also can not bonding piezo ceramic element.Though be with flutedly on the polygon prism outer surface of cylindrical stator, so that the piezo ceramic element segmentation pastes, but still think that the pottery that segmentation is pasted is one group.8 groups of piezoelectric ceramic pieces stick on the outer prismatic surface of stator.
Stator has adopted in plane vibration mode shown in Figure 5 as operation mode.The stickup of piezoelectric ceramic and mode motivational techniques are as embodiment 1.
Embodiment 3:
As shown in Figure 8, in the present embodiment: the outer wall of described stator 84 is circular, and the inwall of stator 84 is polygon, and rotor 82 is arranged at the outside of stator 84.
Described detent mechanism 4 is locating cover, and detent mechanism 4 is positioned at the two ends of stator 2, is used for supporting and fixed stator.
Described rotor 82 is circular ring, and its structure is described and seen Figure 10, and wherein: the rotor 101 of described circular ring is open annulus, and the two ends 102 of this open annulus are provided with extension spring 103 to realize that rotor 101 is clamped on the stator 84.
Described piezo ceramic element 85 is the tabular structure of strip, and piezo ceramic element 85 is arranged at the inwall of stator 2 with stator 84 axial manner.
The stickup of piezoelectric ceramic and the energisation mode of mode are as embodiment 1.
Claims (7)
1. rotor cylindrical high-torque ultrasonic motor more than a kind, comprise: piezo ceramic element, stator, rotor and detent mechanism, it is characterized in that: one or more rotors are vertically installed in successively on the detent mechanism and with stator and contact, detent mechanism, rotor and stator are coaxial setting, and piezo ceramic element is arranged at the outside that inside that the outside of stator and inside that rotor is arranged at stator or piezo ceramic element be arranged at stator and rotor are arranged at stator;
Described rotor is disc-shaped structure or circular ring, and wherein: be provided with elastic mechanism between the rotor of disc-shaped structure, the shape of rotor and described drive surfaces is complementary and elastic mechanism and drive surfaces lay respectively at the both sides of arbitrary rotor;
When but the piezo ceramic element at stator applies two same frequencys dephased driving signal, can all differ two poor standing waves of same phase on time and the space inspiring simultaneously on the stator, two standing waves synthesize one along the capable ripple that rotates in a circumferential direction, thereby so that the movement locus of the particle on the drive surfaces is ellipse on the stator, so that stator drives rotor contacted with it; Because the angular velocity of rotation along the capable ripple that rotates in a circumferential direction on the stator is identical, even thereby the radius of a plurality of rotors different, stator is still identical to the angular speed of these rotors drivings, so that the output torque of many rotors is able to effective stack.
2. many rotor cylindrical high-torque ultrasonic motors according to claim 1 is characterized in that, all rotors all rotate synchronously with same angular velocity.
3. many rotor cylindrical high-torque ultrasonic motors according to claim 1 and 2, it is characterized in that, symmetrical structure centered by the inwall of described stator or the outer wall, its cross section is circle or polygon, and stator is provided with the drive surfaces of several respective rotor to drive a plurality of coaxial rotor synchronous rotations.
4. many rotor cylindrical high-torque ultrasonic motors according to claim 1 is characterized in that, described elastic mechanism is stage clip.
5. many rotor cylindrical high-torque ultrasonic motors according to claim 1 is characterized in that, the rotor of described circular ring is open annulus, and the two ends of this open annulus are provided with extension spring to realize that rotor is clamped on the stator.
6. many rotor cylindrical high-torque ultrasonic motors according to claim 1, it is characterized in that, described detent mechanism is locating shaft or locating cover, and when rotor was arranged at the inside of stator, inside and rotor that detent mechanism is positioned at stator were fixedly installed on the detent mechanism; When rotor was arranged at stator outside, detent mechanism was positioned at the two ends of stator.
7. many rotor cylindrical high-torque ultrasonic motors according to claim 1 is characterized in that, the particular location of described piezo ceramic element is any one in the following dual mode:
1) when the cross section of the inwall of stator when being circular, then piezo ceramic element is arranged at the outer wall of stator in the stator shaft orientation mode;
2) when the cross section of the outer wall of stator when being circular, then piezo ceramic element is arranged at the inwall of stator in the stator shaft orientation mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110007074 CN102055373B (en) | 2011-01-13 | 2011-01-13 | Multi-rotor cylindrical high-torque ultrasonic motor |
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| CN 201110007074 CN102055373B (en) | 2011-01-13 | 2011-01-13 | Multi-rotor cylindrical high-torque ultrasonic motor |
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| CN102055373B true CN102055373B (en) | 2013-03-20 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787938B (en) * | 2016-12-21 | 2023-01-31 | 深圳大学 | Annular traveling wave ultrasonic motor of welding process |
| CN107834900A (en) * | 2017-11-15 | 2018-03-23 | 郑州大学 | A kind of face inward turning transition travelling wave supersonic motor and driver |
| CN108233765B (en) * | 2018-02-06 | 2024-03-26 | 南京航达超控科技有限公司 | Series structure ultrasonic motor |
| CN110829887B (en) * | 2019-11-27 | 2024-06-04 | 山东理工大学 | Standing wave type double-sided magnetic repulsion rotary motor capable of rotating bidirectionally |
| CN112953298B (en) * | 2021-03-26 | 2022-09-13 | 重庆第二师范学院 | Flat ultrasonic motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2703927B2 (en) * | 1988-06-17 | 1998-01-26 | 日本電気株式会社 | Driving method of ultrasonic motor |
| CN1964175A (en) * | 2006-11-24 | 2007-05-16 | 清华大学 | A screw thread driving polyhedral supersonic micro motor with pre-pressure mechanism |
| CN101170288A (en) * | 2007-09-14 | 2008-04-30 | 浙江工商大学 | Ultrasonic electromotor based on external supporting structure stator drive |
-
2011
- 2011-01-13 CN CN 201110007074 patent/CN102055373B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2703927B2 (en) * | 1988-06-17 | 1998-01-26 | 日本電気株式会社 | Driving method of ultrasonic motor |
| CN1964175A (en) * | 2006-11-24 | 2007-05-16 | 清华大学 | A screw thread driving polyhedral supersonic micro motor with pre-pressure mechanism |
| CN101170288A (en) * | 2007-09-14 | 2008-04-30 | 浙江工商大学 | Ultrasonic electromotor based on external supporting structure stator drive |
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