CN102355159A - Resonance-type linear ultrasonic motor and control method - Google Patents
Resonance-type linear ultrasonic motor and control method Download PDFInfo
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- CN102355159A CN102355159A CN2011103076920A CN201110307692A CN102355159A CN 102355159 A CN102355159 A CN 102355159A CN 2011103076920 A CN2011103076920 A CN 2011103076920A CN 201110307692 A CN201110307692 A CN 201110307692A CN 102355159 A CN102355159 A CN 102355159A
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Abstract
The invention discloses a resonance-type linear ultrasonic motor and a control method, and belongs to the technical field of ultrasonic motors. The resonance-type linear ultrasonic motor is characterized in that: a stator matrix of the motor can be seen as a combined body of two counter weights, two rectangular beams (or rod) and two arc-shaped structures, and the two rectangular beams are collinear in space; the outer side ends of the two rectangular beams are respectively connected with the counter weights, and the inner side ends of the two rectangular beams are connected by the two symmetrically arranged arc-shaped structures; and piezoelectric ceramic is adhered to the sides of the two rectangular beams, and the arc-shaped structures as driving feet of the stator are in contact with a rotor at the vertex parts. The stator utilizes two vibration modes, and the vertex parts of the arc-shaped structures generate elliptical trajectory movement after the two vibration modes are superimposed, thereby the rotor is pushed to move by friction. The invention has the characteristics of simple and compact structure, large thrust and the like.
Description
Technical field:
The present invention relates to a kind of resonant linear ultrasonic motor and control method, belong to the ultrasound electric machine technical field.
Background technology:
Ultrasound electric machine is the specific type of electric machine of a kind of new ideas of developing rapidly the eighties of eighties of last century; Drive mechanism is as the one of which: the inverse piezoelectric effect of utilizing piezoelectric; Excite elastomer to produce micro breadth oscillation in supersonic range; Force the particle of contact-making surface to produce the elliptical orbit motion, and convert thereof into the rotation or the rectilinear motion of mover through the friction between fixed, the mover.Compare with electromagnetic machine, have that version is changeable, low speed high torque, low noise operation, response are fast, cut off self-lock, position and speed control property are good, do not produce magnetic field also is not subjected to advantages such as electromagnetic interference.Owing to have above plurality of advantages, ultrasound electric machine has obtained number of applications in fields such as industrial automation, Aero-Space, medical treatment, bioengineering, and has brought into play enormous function.
Linear ultrasonic motor is wherein more common a kind of, and linear ultrasonic motor can be divided into Resonant Linear Electric Motor and off-resonance formula linear electric motors according to the mode of work.Off-resonance formula linear ultrasonic motor is different from traditional ultrasound electric machine, generally adopts piezoelectric stack as making moving cell, through the quiet distortion of control piezoelectric stack, comes the movement locus of control contact-making surface particle indirectly.Its working method and mode of oscillation are uncorrelated, therefore can on lower frequency, work, because the movement locus of contact-making surface particle derives from elastomeric quiet distortion, so thrust-weight ratio is big and displacement accuracy is high.But shortcoming is: maximum output speed is lower, and requirement on machining accuracy is very high; Resonant linear ultrasonic motor has adopted the general work principle of conventional ultrasound motor, is operated under the natural mode of vibration, and operating frequency is generally higher, and the motor of the non-relatively formula of shaking of thrust-weight ratio is lower, but maximum output speed is higher, manufacturing cost is lower.
Summary of the invention:
The present invention proposes a kind of resonant linear ultrasonic motor and control method, this motor has simple in structure, compact, is easy to characteristics such as processing and little, miniaturization, thrust are big.
Know-why and scheme that this patent adopted are:
The resonant linear ultrasonic motor that the present invention proposes is made up of stator, mover, pedestal and accessory, comprising: stator matrix, piezoelectric ceramic; Pedestal; Slide block, track, aluminium oxide ceramics bar; Leaf spring; Leaf spring trip bolt, laterally holding screw, vertically holding screw; Track trip bolt, crossed strip and longitudinal spring.Wherein slide block and aluminium oxide ceramics bar bond together, and constitute the mover of motor jointly, install in orbit, can do rectilinear motion along track, and track is installed on the pedestal through trip bolt.Stator matrix and piezoelectric unit constitute the stator of motor; Be placed in the pedestal; An arcuate structure on the stator matrix is as driving foot; Contact with mover (aluminium oxide ceramics bar) at its place, summit; Precompression between stator and rotor is regulated through horizontal holding screw and crossed strip; Vertically holding screw and longitudinal spring are used for eliminating the axial clearance between stator and pedestal, are used for regulating pretightning force longitudinally simultaneously.Leaf spring is installed in the upside of pedestal, is used for limiting the extra dof of stator.
Said stator is the core of whole motor, is made up of stator matrix and piezoelectric ceramic.The stator matrix is the assembly of two counterweights, two rectangular beams (or being called bar) and two arcuate structures.Two rectangular beams are conllinear spatially, and outboard end is connected with counterweight respectively, and medial extremity connects through two arcuate structures of symmetric arrangement, forms an incorporate symmetrical structure.Piezoelectric ceramic sticks on the side of rectangular beam through epoxy resin.
Said stator has two specific mode of oscillations.A mode of oscillation of stator about two rectangular beams partly present 1 rank longitudinal vibration pattern of symmetry, extruding or stretching arcuate structure simultaneously, the reciprocating motion that forces the position, summit of arcuate structure to produce vertical direction; Another mode of oscillation of stator partly presents antisymmetric 1 rank longitudinal vibration pattern at two rectangular beams, makes position, arcuate structure summit produce the reciprocating motion of horizontal direction.In above-mentioned two mode of oscillations, the amplitude at counterweight place is all much smaller than the amplitude of rectangular beam and arcuate structure.After above-mentioned two mode of oscillations stack, the reciprocating motion on the vertical and horizontal both direction of arcuate structure apex portion can be synthesized an elliptic motion.
The resonant linear ultrasonic motor that the present invention proposes is that 90 ° same frequency sine voltage signal excitation is worked down at the two-way phase difference; It is characterized in that: wherein one road sine voltage signal is applied on the piezoelectric ceramic of rectangular beam both sides, an operation mode of excitation stator; Another road phase difference is that 90 ° same frequency sinusoidal signal is applied on the piezoelectric ceramic of another rectangular beam both sides, another operation mode of excitation stator.Under above-mentioned two-way voltage signal excitation, two mode of oscillations of stator will be excited simultaneously, and an elliptic motion will be synthesized in position, arcuate structure summit.When its when mover contacts, but batch (-type) ground promotes the mover linear movement output.After the exchange pumping signal, the direction of elliptic motion will be reverse, and the direction of linear movement output also changes thereupon.
The resonant linear ultrasonic motor that the present invention proposes has adopted 1 rank symmetry and the antisymmetric vibration pattern of two beams groundwork mode as stator, through the conversion of arcuate structure, and the final elliptic motion that superposes out at the position, summit of arcuate structure.The main effect of two counterweights: (1) makes two beams produce the symmetry and the antisymmetric vibration shape; (2) enlarge the amplitude of rectangular beam and structure junction, thereby enlarge the displacement at position, arcuate structure summit, improve the maximum output speed and the power output of motor.The electric machine structure compact is easy to little, miniaturization, has certain promotion value.
Description of drawings:
Fig. 1 is the external structure sketch map of the resonant linear ultrasonic motor that proposes of the present invention.Label and designation among the figure: 1-stator matrix, 2-piezoelectric unit, 3-pedestal, 4-slide block, 5-track, 6-aluminium oxide ceramics bar, 7-leaf spring, 8-leaf spring trip bolt, the horizontal holding screw of 9-, the vertical holding screw of 10-, 11-track trip bolt.
Fig. 2 is the internal structure sketch map of the resonant linear ultrasonic motor that proposes of the present invention.Label and designation among the figure: 12-crossed strip, 13-are in length and breadth to spring.
Fig. 3 is the stator structure of the resonant linear ultrasonic motor that proposes of the present invention.Label and designation among the figure: 14～15-counterweight, 16～17-rectangular beam, 18～19-arcuate structure, 20～23-piezoelectric ceramic.
Fig. 4 is two mode of oscillations of the stator of the resonant linear ultrasonic motor that proposes of the present invention.
Fig. 5 is the steady-state response of the stator of the resonant linear ultrasonic motor that proposes of the present invention.Label and designation among the figure: 1-elliptical trajectory.
Operation principle and execution mode:
Specify the embodiment of this resonant linear ultrasonic motor below in conjunction with accompanying drawing.
The resonant linear ultrasonic motor that the present invention proposes is made up of pedestal, stator and mover and accessory, and structure mainly comprises as depicted in figs. 1 and 2: 1-stator matrix; The 2-piezoelectric ceramic, 3-pedestal, 4-slide block; The 5-track; 6-aluminium oxide ceramics bar, 7-leaf spring, 8-leaf spring trip bolt; The horizontal holding screw of 9-; The 10-holding screw, 11-track trip bolt, 12-crossed strip and 13-longitudinal spring.Wherein 4-slide block and 6-aluminium oxide ceramics bar bond together, and constitute the mover of motor jointly, are installed on the 5-track, can do rectilinear motion along the 5-track.The 5-track is installed on the 3-pedestal through 11-track trip bolt.1-stator matrix and 2-piezoelectric ceramic constitute the stator of motor; Be placed in the 3-pedestal; An arcuate structure on the 1-stator matrix is as driving foot; Contact with mover (6-aluminium oxide ceramics bar) at its place, summit; Precompression between stator and rotor is regulated through two horizontal holding screws of 9-and 12-crossed strip; Vertical holding screw of 10-and 13-longitudinal spring are used for eliminating the axial clearance between stator and pedestal, are used for regulating pretightning force longitudinally simultaneously.The 7-leaf spring is installed in the upside of pedestal, is used for limiting the extra dof of stator.The 3-susceptor edges has 2 installing holes, is used for the installation of motor.
The stator of above-mentioned resonant linear ultrasonic motor is the core of whole motor, is made up of stator matrix and piezoelectric ceramic, and overall structure form as shown in Figure 3.It is characterized in that: the stator matrix is the assembly of two counterweights 14～15, two rectangular beams 16～17 (or being called bar) and two arcuate structures 18～19.Two rectangular beams are conllinear spatially, and outboard end is connected with counterweight respectively, and medial extremity connects through two arcuate structures of symmetric arrangement, forms an incorporate symmetrical structure.Four blocks of piezoelectric ceramic 20～23 stick on respectively on four sides of two rectangular beams through epoxy resin.
The stator of above-mentioned ultrasound electric machine has two specific mode of oscillations.It is characterized in that: a mode of oscillation of stator about two rectangular beams partly present the 1 rank longitudinal vibration pattern (shown in Fig. 4 (1)) of symmetry; Push simultaneously or the stretching arcuate structure; Force the reciprocating motion of the apex portion generation vertical direction (in the drawings under the coordinate system) of arcuate structure along Z-direction; Another mode of oscillation of stator partly presents antisymmetric 1 rank longitudinal vibration pattern (shown in Fig. 4 (2)) at two rectangular beams; When a beam shrinks; Another beam then extends, and makes the apex portion of arcuate structure produce the reciprocating motion (in the drawings under the coordinate system, along Y direction) of horizontal direction.In above-mentioned two mode of oscillations, the amplitude at counterweight place is all much smaller than the amplitude of beam and arcuate structure.After above-mentioned two mode of oscillations stack, the reciprocating motion on the vertical and horizontal both direction of arcuate structure apex portion can be synthesized an elliptic motion.
According to the design principle of ultrasound electric machine, the frequency of above-mentioned two mode of oscillations of stator should be consistent as much as possible, simultaneously should be as far as possible away near interference modal, and these requirements can realize through the size of adjustment structure.In addition, the counterweight that in design, also needs the choose reasonable two ends.The quality of counterweight is big more, and the amplitude of counterweight and counterweight and rectangular beam link is just more little, and the amplitude of rectangular beam and arcuate structure link is just big more, thereby the amplitude at position, enlarged configuration summit helps to improve the maximum output speed and the power output of motor; Simultaneously, the counterweight amplitude is more little, and the pretightning force that the 13-longitudinal spring produces is just more little to the influence of stator vibration mode.But weight mass is big more, and the volume of stator is just big more, therefore in actual design process, needs the size of counterweight and the amplitude of counterweight are weighed.
Above-mentioned resonant linear ultrasonic motor is 90 ° same frequency sine voltage signal excitation work down at the two-way phase difference, and it is characterized in that: wherein one road sine voltage signal is applied on the piezoelectric ceramic of rectangular beam both sides, encourages an operation mode of stator; Another road phase difference is that 90 ° same frequency sinusoidal signal is applied on the piezoelectric ceramic of another rectangular beam both sides, another operation mode of excitation stator.In Fig. 3, the concrete supply mode of drive signal is following: stator matrix earth electrode, and the lateral electrode of 7～8-piezoelectric ceramic connects voltage signal: Usin ω t; The lateral electrode of 9～10-piezoelectric ceramic connects voltage signal: Ucos ω t, and wherein: U is a magnitude of voltage, and ω is a model frequency, and t is the time.
Under the excitation of above-mentioned two-way voltage signal, the steady-state response of the stator of above-mentioned resonant linear ultrasonic motor in an Energizing cycle (obtains through the humorous response analysis of ANSYS) as shown in Figure 5.In an Energizing cycle, stator has experienced (1) successively to (4) four conversion steps, the movement locus of position, arcuate structure summit (seeing the A point among the figure) is: a → b → c → d → a has constituted the ellipse in the YZ plane.In stator is packed the 3-electric machine stand into; And under the effect of horizontal holding screw of 9-and 12-crossed strip; The position, summit of stator arcuate structure contacts with 6-aluminium oxide ceramics bar and when keeping certain precompression; The elliptic motion at position, structure summit can promote 6-aluminium oxide ceramics bar (mover), linear movement output in batch (-type) ground.After the exchange pumping signal, the direction of motion at position, structure summit will be reverse, and the direction of linear movement output also changes thereupon.
Claims (2)
1. resonant linear ultrasonic motor; By stator; Mover; Pedestal and accessory constitute; Accessory comprises: the stator matrix; Piezoelectric ceramic; Pedestal; Slide block, track, aluminium oxide ceramics bar; Leaf spring; Leaf spring trip bolt, laterally holding screw, vertically holding screw; The track trip bolt; Crossed strip and longitudinal spring is characterized in that: the stator of said motor is made up of stator matrix and piezoelectric ceramic, and the stator matrix is two counterweights; The assembly of two rectangular beams and two arcuate structures; Two rectangular beams are conllinear spatially; The rectangular beam outboard end is connected with counterweight respectively, and the rectangular beam medial extremity connects through two arcuate structures of symmetric arrangement, and piezoelectric ceramic sticks on the side of two rectangular beams.
2. control method based on the described a kind of resonant linear ultrasonic motor of claim 1; It is characterized in that: said ultrasound electric machine is that 90 ° same frequency sine voltage signal excitation is worked down at the two-way phase difference, and wherein one road voltage signal is applied on the piezoelectric ceramic of rectangular beam both sides; Another road phase difference is that 90 ° voltage signal is applied on the piezoelectric ceramic of another rectangular beam both sides; The stator of said motor has two specific mode of oscillations: a mode of oscillation, about two rectangular beams partly present 1 rank longitudinal vibration pattern of symmetry, the reciprocating motion that forces the top of arcuate structure to produce vertical direction; Another mode of oscillation; Two rectangular beams partly present antisymmetric 1 rank longitudinal vibration pattern; Make the top of arcuate structure produce the reciprocating motion of horizontal direction, after two mode of oscillation stacks, the synthetic elliptic motion of reciprocating motion on the vertical and horizontal both direction at position, arcuate structure summit.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495011A (en) * | 2018-12-12 | 2019-03-19 | 华南农业大学 | A kind of arc vibrator line type piezoelectric motor and its driving method |
| US10557533B2 (en) | 2015-07-30 | 2020-02-11 | Nec Corporation | Linear motion mechanism formed integrally |
| CN111504685A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Vibration cutting device and design method thereof |
| CN112271954A (en) * | 2020-11-13 | 2021-01-26 | 上海工程技术大学 | Symmetrically-arranged double-foot driving linear ultrasonic motor |
| CN112542959A (en) * | 2020-11-25 | 2021-03-23 | 上海工程技术大学 | Single-phase excitation bidirectional movement miniature ultrasonic motor and method |
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| CN101013862A (en) * | 2006-12-18 | 2007-08-08 | 江苏大学 | Conoid stator longitudinal and bending combination ultrasonic linear motor |
| EP1821350A2 (en) * | 2006-02-17 | 2007-08-22 | Seiko Epson Corporation | Piezoelectric actuator, drive control method of piezoelectric actuator, and electronic device |
| CN201063551Y (en) * | 2007-05-31 | 2008-05-21 | 吉林大学 | Bias support cantilever type piezoelectric inertia shock precise driver |
| CN100514833C (en) * | 2007-03-20 | 2009-07-15 | 哈尔滨工业大学 | Sandwich transducer type longitudinal and bending linear ultrasound motor with frequency-modulating variable-amplitude rod |
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Patent Citations (4)
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| EP1821350A2 (en) * | 2006-02-17 | 2007-08-22 | Seiko Epson Corporation | Piezoelectric actuator, drive control method of piezoelectric actuator, and electronic device |
| CN101013862A (en) * | 2006-12-18 | 2007-08-08 | 江苏大学 | Conoid stator longitudinal and bending combination ultrasonic linear motor |
| CN100514833C (en) * | 2007-03-20 | 2009-07-15 | 哈尔滨工业大学 | Sandwich transducer type longitudinal and bending linear ultrasound motor with frequency-modulating variable-amplitude rod |
| CN201063551Y (en) * | 2007-05-31 | 2008-05-21 | 吉林大学 | Bias support cantilever type piezoelectric inertia shock precise driver |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10557533B2 (en) | 2015-07-30 | 2020-02-11 | Nec Corporation | Linear motion mechanism formed integrally |
| CN109495011A (en) * | 2018-12-12 | 2019-03-19 | 华南农业大学 | A kind of arc vibrator line type piezoelectric motor and its driving method |
| CN109495011B (en) * | 2018-12-12 | 2020-04-17 | 华南农业大学 | Arc-shaped vibrator linear piezoelectric motor and driving method thereof |
| CN111504685A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Vibration cutting device and design method thereof |
| CN111504685B (en) * | 2020-04-27 | 2021-05-11 | 华中科技大学 | Vibration cutting device and design method thereof |
| CN112271954A (en) * | 2020-11-13 | 2021-01-26 | 上海工程技术大学 | Symmetrically-arranged double-foot driving linear ultrasonic motor |
| CN112542959A (en) * | 2020-11-25 | 2021-03-23 | 上海工程技术大学 | Single-phase excitation bidirectional movement miniature ultrasonic motor and method |
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| CN102355159B (en) | 2014-05-14 |
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Inventor after: Jin Jiamei Inventor after: Qian Fu Inventor after: Pan Zhenfeng Inventor after: Tan Zhenzhen Inventor after: Zhang Quan Inventor before: Jin Jiamei Inventor before: Qian Fu Inventor before: Pan Zhenfeng |
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