CN102751901A - Micro-miniature antifriction drive-type rotary ultrasonic motor - Google Patents
Micro-miniature antifriction drive-type rotary ultrasonic motor Download PDFInfo
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- CN102751901A CN102751901A CN2012102103520A CN201210210352A CN102751901A CN 102751901 A CN102751901 A CN 102751901A CN 2012102103520 A CN2012102103520 A CN 2012102103520A CN 201210210352 A CN201210210352 A CN 201210210352A CN 102751901 A CN102751901 A CN 102751901A
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Abstract
The invention discloses a micro-miniature antifriction drive-type rotary ultrasonic motor, which comprises a stator and a rotor, wherein the stator comprise a metal annular plate, wherein one side of a plate surface of the metal annular plate is provided with an annular flange, and the other side of the plate surface of the metal annular plate is provided with piezoceramics; the piezoceramics comprise longitudinal vibration piezoceramics and torsional vibration piezoceramics, an installation part of the longitudinal vibration piezoceramics is opposite to the annular flange, and an installation part of the torsional piezoceramics is arranged in the inner side of the longitudinal vibration piezoceramics; and the longitudinal and the torsional piezocermaics are respectively connected with a corresponding excitation power supply. Compared with a traditional ultrasonic motor with the same size, a motor main body has characteristics of compact structure, stable performance and large output power.
Description
Technical field
The present invention relates to a kind of rotary ultrasonic motor, especially a kind of microminiature antifriction drive-type rotary ultrasonic motor that comprises torsional oscillation, two operation modes of longitudinal vibration belongs to the ultrasound electric machine field.
Background technology
Ultrasound electric machine is the inverse piezoelectric effect excitation ultrasound vibration that utilizes piezoelectric ceramic, relies on the novel actuator of frictional force drives.Rotary-type ultrasound electric machine belongs to a kind of of ultrasound electric machine.Compare with the traditional electrical magneto, ultrasound electric machine has big torque mass ratio, fast response, precision positioning and do not have advantage such as electromagnetic interference, is with a wide range of applications in fields such as biologic medical, accurate driving, optics and Aero-Space.
Traditional linear type ultrasound motor requires stator that two operation modes are arranged, and two mode produce elliptic motion in drive end combination back, and then promotes superjacent rotor generation rectilinear motion.The ultrasound electric machine of the type requires very high to the frequency invariance of two phase mode; And because the effect of precompression; Drift will take place in the operation mode frequency, and the model frequency of stator initial designs is inconsistent usually to the susceptibility of precompression, therefore; Cause Electric Machine Control difficulty, phenomenon such as delivery efficiency is low.
Summary of the invention
The present invention is directed to the deficiency of prior art, a kind of microminiature antifriction drive-type rotary ultrasonic motor is provided, compare with the traditional ultrasound electric machine of equal volume, motor body has compact conformation, stable performance, the characteristics that power output is bigger.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of microminiature antifriction drive-type rotary ultrasonic motor comprises stator and rotor, and said stator comprises metallic ring-plate, and plate face one side of this metallic ring-plate is provided with annular flange flange, and the plate face opposite side of metallic ring-plate is then installed piezoelectric ceramic; Said piezoelectric ceramic comprises longitudinal vibration piezoelectric ceramic and torsional oscillation piezoelectric ceramic, and the installation position and the annular flange flange of longitudinal vibration piezoelectric ceramic are relative, and the installation position of torsional oscillation piezoelectric ceramic is positioned at the inboard of longitudinal vibration piezoelectric ceramic; Longitudinal vibration piezoelectric ceramic, torsional oscillation piezoelectric ceramic are connected with corresponding excitation power supply respectively, produce local micro breadth oscillation mode in the opposite end of longitudinal vibration piezoelectric ceramic installation position, produce the single order torsion modes in the opposite end of torsional oscillation piezoelectric ceramic installation position to impel stator respectively accordingly; Said stator with the single order torsion modes as friction drive, with the antifriction mode of local micro breadth oscillation mode as friction drive.
The excitation power supply of said torsional oscillation piezoelectric ceramic is the continous way square-wave signal; And the torsional oscillation piezoelectric ceramic is under the excitation of continous way square-wave signal; Impel stator to produce the single order torsion modes in the opposite end of torsional oscillation piezoelectric ceramic installation position, the driving frequency of said continous way square-wave signal equates with the single order torsion modes frequency f 1 of stator; The excitation power supply of longitudinal vibration piezoelectric ceramic is the compartment sinusoidal signal; And the spacing frequency of compartment sinusoidal signal and single order torsion modes frequency f 1 are approaching; The longitudinal vibration piezoelectric ceramic is under the compartment sinusoidal signal excitation; Produce local micro breadth oscillation mode in the opposite end of longitudinal vibration piezoelectric ceramic installation position, the frequency f 2 of this part micro breadth oscillation mode equates with the driving frequency of compartment sinusoidal signal.
Said local micro breadth oscillation mode is local bending vibration modes of single order or the local longitudinal vibration mode of single order.
The frequency f 2 of local micro breadth oscillation mode is much larger than single order torsion modes frequency f 1.
Said annular flange flange flushes with the outer rim of metallic ring-plate.
According to above technical scheme, compared with prior art, the present invention has the following advantages:
1, the present invention adopts the torsional oscillation piezoelectric ceramic to excite stator body to produce twisting vibration, causes the back rotation of coming of stator outer upper surface, as the friction drive source of rotor; Adopt the longitudinal vibration piezoelectric ceramic to excite the local extensional vibration or the local buckling vibration of stator outer, cause the outer upper surface just/friction drive of Umklapp process changes; The directed rotation takes place in rotor under asymmetrical friction drive effect; Through the frequency and the amplitude of control extensional vibration or flexural vibrations, can reach under the situation of big precompression, rotor still can directed movement, has higher power output;
2, the stator of electric rotating machine according to the invention does not require frequency invariance, therefore, is convenient to control; The single order torsion modes frequency of the stator that is excited by the torsional oscillation piezoelectric ceramic is lower, so that obtain the bigger rotational angle of outer upper surface; The single order extensional vibration or the first-order bending vibration model frequency of the stator outer that is excited by the longitudinal vibration piezoelectric ceramic are higher, so that obtain friction reducing effect preferably; The rotation direction of rotor is confirmed that by the phase difference of pumping signal staggered excitation makes the directed rotation of rotor, and excitation simultaneously makes the rotor counter-rotation.
Description of drawings
Fig. 1-1 is the perspective view of microminiature antifriction drive-type rotary ultrasonic motor according to the invention;
Fig. 1-2 is the cross-sectional view of microminiature antifriction drive-type rotary ultrasonic motor according to the invention.
Fig. 2-1 is the single order torsion modes sketch map of microminiature antifriction drive-type rotary ultrasonic motor stator according to the invention;
Fig. 2-2 is the local extensional vibration mode of the single order sketch map of microminiature antifriction drive-type rotary ultrasonic motor stator according to the invention outer.
Fig. 3 is the signal end sketch map of microminiature antifriction drive-type rotary ultrasonic motor stator according to the invention.
Fig. 4 is the staggered excitation signal figure of microminiature antifriction drive-type rotary ultrasonic motor stator according to the invention.
Label title among the figure: 1, stator; 2, rotor; 3, rotation axis; 4, metallic ring-plate; 5, torsional oscillation piezoelectric ceramic; 6, longitudinal vibration piezoelectric ceramic; 7, stator bottom sides; 8, rotor lower surface; 9, the upper surface of stator outer; 10, rotor motion direction; 11, precompression; 12, single order torsion modes; 13, the local longitudinal vibration mode of single order; 14, torsional excitation signal input part; 15 earth terminals; 16, longitudinal vibration pumping signal input; 17, continous way square-wave signal; 18, compartment sine wave exciting signal.
Embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Below will combine accompanying drawing that technical scheme of the present invention at length is described.
Shown in Fig. 1-1,1-2, said motor integral body is made up of stator 1 and rotor 2; The bottom sides 7 of stator 1 is a stationary plane; The location hole of stator central authorities is inserted in rotation axis 3 lower ends of rotor 2, and the upper end applies certain precompression 11, keeps rotor 2 lower surfaces 8 to contact with the upper surface 9 of stator 1 outer; Rotor 2 can be done along central shaft and circumferentially clockwise or counterclockwise rotatablely move 10;
Said stator 1 is by metallic ring-plate 4, torsional oscillation piezoelectric ceramic 5, longitudinal vibration piezoelectric ceramic 6 bonding compositions; Metallic ring-plate 4 central authorities have one to be used to lay the positioning through hole of rotating shaft, and the middle part is a thin-slab structure, and there is the outer of a boss shape in the outside; Torsional oscillation piezoelectric ceramic 5 sticks on the inboard of metallic ring-plate 4 lower surfaces, and longitudinal vibration piezoelectric ceramic 6 sticks on the outside of metallic ring-plate 4 lower surfaces of positive team boss shape outer; Rotor 2 is a thin plate-shaped structure, and there is a longilineal rotating shaft 3 centre, and four circular holes that are uniformly distributed with on every side are used to alleviate the rotor own wt.
Shown in Fig. 2-1,2-2, the exciting element of stator comprises vibration piezoelectric ceramic 5 and longitudinal vibration piezoelectric ceramic piece 6; The effect that ultrasonic vibration reduces friction is played in the extensional vibration 15 of metallic ring-plate outer, and the single order torsion modes 12 of metallic ring-plate makes outer upper surface 9 in the back rotation of circumferentially coming up; Twisting vibration 12 adopts the square-wave signal 17 of continous way to excite, and extensional vibration 13 adopts the sinusoidal signal 18 of compartment to excite; Staggered excite extensional vibration and twisting vibration, the friction drive of outer upper surface 9 in the process of advancing is bigger, in the fallback procedures because ultrasonic vibration longitudinally; Friction drive reduces; Caused the asymmetry of actuating force, on the macroscopic view, rotor will produce directed the rotation; On the contrary, excite lengthwise movement and twisting vibration simultaneously, rotor will produce rightabout rotation.
The single order torsion modes 12 of stator 1 is excited by the square-wave signal 17 of continous way, single order torsion modes 12 frequency f of the driving frequency of square-wave signal and stator
1Equate; The local longitudinal vibration mode 13 of the single order of stator outer excites single order torsion modes 12 frequency f of spacing frequency and stator by the sinusoidal signal 18 of compartment
1Approaching, in theory, the first-order bending vibration model frequency f of spacing frequency and stator
1Should equate, but based on actual engineering operation, both are comparatively near getting final product; The local longitudinal vibration mode of the single order of the driving frequency of sinusoidal signal and stator outer 13 frequency f
2Equate; In order to reach ultrasonic vibration friction reducing effect preferably, require f during structural design
2Much larger than f
1
As shown in Figure 3, the signal input part of twisting vibration is 14, and earth terminal is 15, and the signal input part of extensional vibration is 16, with the public earth terminal 15 of twisting vibration.Staggered extensional vibration and the torsion vibration signal that excites, the square-wave signal 17 of continous way links to each other with signal input part 14, and the sinusoidal signal 18 of compartment links to each other with signal input part 16.As shown in Figure 4, t0 is to the t1 moment, and signal input part 14 receives that frequency is f
1High level signal excites the single order torsion modes 12 of stator 1, the input of signal input part 16 no signals, and under the effect of precompression, 8 bigger frictional force of existence of the upper surface 9 of outer and rotor driven face, drive rotor 2 K1 that rotates to an angle; T1 is to the t2 moment, and signal input part 14 no signals are imported, the initial position before stator 1 is back to and reverses, and the upper surface 9 of outer drives rotors 2 and returns certain angle K2, because signal input part 16 receives that frequency is f
2Sinusoidal excitation signal, excite the single order extensional vibration mode 13 of stator outer, under the effect of ultrasonic extensional vibration, 8 frictional force of the upper surface 9 of outer and rotor driven face reduce, so K2 is less than K1.T2 repeats t0 to t1 motion constantly constantly to t3, and T3 repeats t1 to t2 motion constantly constantly to t4, and so repeatedly, on the macroscopic view, rotor 2 will produce directed the rotation.
The rotation direction of this rotor is confirmed by the phase difference of pumping signal 17 and 18: 180 ° of staggered excitations of phase difference representative are rotated the rotor orientation; 0 ° of phase difference representative excitation simultaneously makes the rotor counter-rotation.
In addition; Frequency through adjustment compartment sinusoidal signal 18; Make that the frequency of compartment sinusoidal signal 18 is consistent with the local bending vibration modes frequency of stator; Can impel stator to produce local bending vibration modes in the opposite end of longitudinal vibration piezoelectric ceramic installation position, therefore, the antifriction function of stator is realized by this part bending vibration modes.
Claims (5)
1. a microminiature antifriction drive-type rotary ultrasonic motor comprises stator and rotor, and it is characterized in that: said stator comprises metallic ring-plate, and plate face one side of this metallic ring-plate is provided with annular flange flange, and the plate face opposite side of metallic ring-plate is then installed piezoelectric ceramic; Said piezoelectric ceramic comprises longitudinal vibration piezoelectric ceramic and torsional oscillation piezoelectric ceramic, and the installation position and the annular flange flange of longitudinal vibration piezoelectric ceramic are relative, and the installation position of torsional oscillation piezoelectric ceramic is positioned at the inboard of longitudinal vibration piezoelectric ceramic; Longitudinal vibration piezoelectric ceramic, torsional oscillation piezoelectric ceramic are connected with corresponding excitation power supply respectively, produce local micro breadth oscillation mode in the opposite end of longitudinal vibration piezoelectric ceramic installation position, produce the single order torsion modes in the opposite end of torsional oscillation piezoelectric ceramic installation position to impel stator respectively accordingly; Said stator with the single order torsion modes as friction drive, with the antifriction mode of local micro breadth oscillation mode as friction drive.
2. according to the said microminiature antifriction of claim 1 drive-type rotary ultrasonic motor; It is characterized in that: the excitation power supply of said torsional oscillation piezoelectric ceramic is the continous way square-wave signal; And the torsional oscillation piezoelectric ceramic is under the excitation of continous way square-wave signal; Impel stator to produce the single order torsion modes in the opposite end of torsional oscillation piezoelectric ceramic installation position, the driving frequency of said continous way square-wave signal equates with the single order torsion modes frequency f 1 of stator; The excitation power supply of longitudinal vibration piezoelectric ceramic is the compartment sinusoidal signal; And the spacing frequency of compartment sinusoidal signal and single order torsion modes frequency f 1 are approaching; The longitudinal vibration piezoelectric ceramic is under the compartment sinusoidal signal excitation; Produce local micro breadth oscillation mode in the opposite end of longitudinal vibration piezoelectric ceramic installation position, the frequency f 2 of this part micro breadth oscillation mode equates with the driving frequency of compartment sinusoidal signal.
3. according to the said microminiature antifriction of claim 2 drive-type rotary ultrasonic motor, it is characterized in that: said local micro breadth oscillation mode is local bending vibration modes of single order or the local longitudinal vibration mode of single order.
4. according to the said microminiature antifriction of claim 2 drive-type rotary ultrasonic motor, it is characterized in that: the frequency f 2 of local micro breadth oscillation mode is much larger than single order torsion modes frequency f 1.
5. according to the said microminiature antifriction of claim 1 drive-type rotary ultrasonic motor, it is characterized in that: said annular flange flange flushes with the outer rim of metallic ring-plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210210352.0A CN102751901B (en) | 2012-06-25 | 2012-06-25 | Micro-miniature antifriction drive-type rotary ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210210352.0A CN102751901B (en) | 2012-06-25 | 2012-06-25 | Micro-miniature antifriction drive-type rotary ultrasonic motor |
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| Publication Number | Publication Date |
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| CN102751901A true CN102751901A (en) | 2012-10-24 |
| CN102751901B CN102751901B (en) | 2016-02-17 |
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| CN201210210352.0A Expired - Fee Related CN102751901B (en) | 2012-06-25 | 2012-06-25 | Micro-miniature antifriction drive-type rotary ultrasonic motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106059378A (en) * | 2016-07-11 | 2016-10-26 | 南京航空航天大学 | Thin reverse type ultrasonic motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4939404A (en) * | 1988-04-22 | 1990-07-03 | Aisin Seiki Kabushiki Kaisha | Vibration wave motor |
| US6100624A (en) * | 1996-10-11 | 2000-08-08 | Takata Corporation | Ultrasonic motor and seat belt retractor |
| CN2590273Y (en) * | 2002-12-10 | 2003-12-03 | 浙江大学 | Contraction easily assembly longitudinal torsion composite ultrasonic motor |
| CN1870413A (en) * | 2005-05-26 | 2006-11-29 | 株式会社尼康 | Vibrational actuator and method for driving vibrational actuator |
| CN101404442A (en) * | 2008-10-21 | 2009-04-08 | 浙江大学 | Piezo-electricity ultrasound and electromagnet integration driven electric motor |
-
2012
- 2012-06-25 CN CN201210210352.0A patent/CN102751901B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4939404A (en) * | 1988-04-22 | 1990-07-03 | Aisin Seiki Kabushiki Kaisha | Vibration wave motor |
| US6100624A (en) * | 1996-10-11 | 2000-08-08 | Takata Corporation | Ultrasonic motor and seat belt retractor |
| CN2590273Y (en) * | 2002-12-10 | 2003-12-03 | 浙江大学 | Contraction easily assembly longitudinal torsion composite ultrasonic motor |
| CN1870413A (en) * | 2005-05-26 | 2006-11-29 | 株式会社尼康 | Vibrational actuator and method for driving vibrational actuator |
| CN101404442A (en) * | 2008-10-21 | 2009-04-08 | 浙江大学 | Piezo-electricity ultrasound and electromagnet integration driven electric motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106059378A (en) * | 2016-07-11 | 2016-10-26 | 南京航空航天大学 | Thin reverse type ultrasonic motor |
| CN106059378B (en) * | 2016-07-11 | 2019-04-19 | 南京航空航天大学 | A kind of sheet type twist mode ultrasound electric machine |
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| CN102751901B (en) | 2016-02-17 |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Xiaolong Inventor after: Hu Junhui Inventor after: Zhao Chunsheng Inventor before: Hu Junhui Inventor before: Lu Xiaolong Inventor before: Zhao Chunsheng |
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Free format text: CORRECT: INVENTOR; FROM: GUO MIN JIANG JIANRONG ZHAO QIONGYIN TO: JIANG JIANRONG GUO MIN ZHAO QIONGYIN |
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Granted publication date: 20160217 Termination date: 20180625 |
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