CN102931871A - Paraboloid-shaped linear ultrasonic motor - Google Patents
Paraboloid-shaped linear ultrasonic motor Download PDFInfo
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- CN102931871A CN102931871A CN2012104331979A CN201210433197A CN102931871A CN 102931871 A CN102931871 A CN 102931871A CN 2012104331979 A CN2012104331979 A CN 2012104331979A CN 201210433197 A CN201210433197 A CN 201210433197A CN 102931871 A CN102931871 A CN 102931871A
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Abstract
The invention relates to a paraboloid-shaped linear ultrasonic motor and belongs to the technical field of ultrasonic motors. The paraboloid-shaped linear ultrasonic motor comprises a stator (1) and a rotor (2) of a column-shaped structure. The stator (1) is formed by connecting n composite vibrators in parallel, wherein n>=3. Each composite vibrator is formed by crossing two langevin vibrators to form a certain angle, simultaneously the head portions of the two langevin vibrators are connected integrally to form a driving foot (13) of each composite vibrator, and each langevin vibrator is composed of an elastic body (11) and a piezoelectric ceramic piece (12). The paraboloid-shaped linear ultrasonic motor is high in energy density, and the stator is formed by a plurality of langevin vibrators, so that space utilization rate of the motor is increased. Simultaneously, due to the fact that a plurality of composite vibrators are stimulated to work at the same time, the whole motor has larger output force.
Description
Technical field
The present invention relates to a kind of paraboloid shape linear ultrasonic motor, belong to the Ultrasonic Motor Techniques field.
Background technology
Linear ultrasonic motor is a kind of novel electrical micro-machine that develops rapidly and use the eighties in 20th century, it utilizes inverse piezoelectric effect and the elastomeric ultrasonic vibration of piezoelectric element, and by the rubbing action between stator and the mover, elastomeric micro breadth oscillation is converted to macroscopical straight line (rotation) motion of mover, directly promote load.It has compact conformation, low-speed big, response is fast, positioning accuracy is high and the advantage such as Electro Magnetic Compatibility.Have a wide range of applications in Aero-Space, weaponry and accurate driving field.The development of present domestic linear ultrasonic motor is very fast.Online at Chinese patent, multinomial patent about linear ultrasonic motor is arranged.
This wherein, bar structure linear ultrasonic motor receives much concern, this is because the stator of this motor is made of Langevin-type transducer.Langevin-type transducer utilizes longitudinal vibration, and clear and definite node is arranged.It has very high energy transmission efficiency, and is conducive to clamping.Patent [200810124426.2] proposes the K shape linear ultrasonic motor based on continuous amplitude transformer principle, and the stator of this motor has the Langevin-type transducer of 2 symmetries to consist of.Patent [201010556088.7] proposes the flexible clamping technology based on linear ultrasonic motor, it is by flexible circular arc fragment all piezoelectric vibrators to be coupled together, and oscillator is connected with stiff end with manhole by flexible circular arc fragment, thereby the clamp structure of having simplified.The stator of said motor only is to have two Langevin-type transducers to consist of, and the space availability ratio of its stator is low.
Summary of the invention
The present invention is directed to the deficiency of the problems referred to above, propose a kind of energy density high and utilize a plurality of Langevin-type transducers to make up the paraboloid shape linear ultrasonic motor of its stator.
The present invention is that the technical scheme that solves the problems of the technologies described above proposition is: a kind of paraboloid shape linear ultrasonic motor, the mover (2) that comprises stator (1) and a column structure, described stator (1) is formed in parallel by the individual composite oscillator of n (n 〉=3), described composite oscillator is connected by flexible supporting element (3), and a described n composite oscillator is placed along circumferential symmetry around mover (2) in the space simultaneously; Described each composite oscillator is made of two angled crossing one another of Langevin-type transducer, and the hatching line of single composite oscillator forms paraboloid around axle, these two Langevin-type transducer heads driving foot (13) of combining as a whole and forming composite oscillator simultaneously, and each Langevin-type transducer is comprised of elastomer (11) and piezoelectric ceramic piece (12), the positive pole of described piezoelectric ceramic piece outwardly, negative pole points to the matrix surface of elastomer (11).
Preferably: described flexible supporting element is two identical cirque structures, described cirque structure comprises circular arc support (31) for fixed stator, apply the flexible hinge (32) of precompression and be used for the fixture (33) of fixing whole motor, and described circular arc support (31), flexible hinge (32), fixture (33) press the successively annular connection of order of flexible hinge (32), circular arc support (31), flexible hinge (32), fixture (33); And described stator (1) is installed between the circular arc support (31) of two cirque structures.
Preferably: the Langevin-type transducer of the same side of described each composite oscillator is one group, and two groups of Langevin-type transducers utilize phase difference to be
Two encourage simultaneously with sinusoidal signals frequently, drive mover and carry out rectilinear motion at its axial direction.
Preferably: described n drives foot circle of formation in the plane take the mover direction of motion as normal direction, and the diameter of described mover is greater than this diameter of a circle.
Preferably: the intersecting angle of two Langevin-type transducers of described each composite oscillator is between 0 °-180 °.
A kind of paraboloid shape linear ultrasonic motor of the present invention, compared to existing technology, has following beneficial effect: because described stator (1) is formed in parallel by the individual composite oscillator of n (n 〉=3), described composite oscillator is connected by flexible supporting element (3), and a described n composite oscillator is placed along circumferential symmetry around mover (2) in the space simultaneously; Described each composite oscillator is made of two angled crossing one another of Langevin-type transducer, and the hatching line of single composite oscillator forms paraboloid around axle, these two Langevin-type transducer heads driving foot (13) of combining as a whole and forming composite oscillator simultaneously, and each Langevin-type transducer is comprised of elastomer (11) and piezoelectric ceramic piece (12), simultaneously because linear ultrasonic motor mainly contains plate structure and two kinds of forms of bar structure, the plate structure linear ultrasonic motor is flat form, simple in structure, can play a role in the specific occasion, bar structure linear ultrasonic motor utilizes Langevin-type transducer can produce large power output and high delivery efficiency, importantly be, Langevin-type transducer has clear and definite longitudinal vibration node, is conducive to clamping and the pre-pressure loading of motor.This patent proposes to utilize a plurality of Langevin-type transducers design linear ultrasonic motors in conjunction with the characteristics of these two kinds of linear ultrasonic motors.The agent structure of this motor is the Langevin-type transducer of bar structure on the one hand, and its surface structure is paraboloid shape structure on the other hand.So this electric machine structure is simple, have clear and definite adding to hold a little and high efficient.
Operation mode of the present invention is when two Langevin-type transducers of composite oscillator are done the extensional vibration of homophase, to excite the symmetrical mode of composite oscillator; When two Langevin-type transducers are done anti-phase each other extensional vibration, excite the antisymmetry mode of composite oscillator.Adopt two phase differences to be
Sinusoidal signal encourage simultaneously two Langevin-type transducers of composite oscillator, excite two of composite oscillators with phase differences frequently
Mode of oscillation, make on the composite oscillator to drive sufficient particle and do elliptic motion.When machine operation, n composite oscillator adopts identical type of drive (with frequency, homophase), drives mover and moves to same direction.Mover is cylindrical structural, and the place contacts with composite oscillator at the driving foot.N drives foot circle of formation in the plane take the mover direction of motion as normal direction, and the diameter of cylinder type mover is greater than this diameter of a circle.Because the diameter of cylinder type mover is greater than this diameter of a circle, so produce precompression between stator and mover.Owing to there not being special pre-pressure loading structure, the structure of motor is simpler.Said motor is conducive to improve the space availability ratio of motor at the symmetric space distribution stator around mover.Owing to exciting a plurality of composite oscillators to work simultaneously, make whole motor that larger power output be arranged simultaneously.
The present invention proposes to utilize n composite oscillator to consist of the stator of motor, and is paraboloid shape structure in the space.This motor can improve the space availability ratio of stator, increases energy density and the power output of stator.Because adopt the clamping element with flexible hinge, so that naturally produce precompression between stator and the mover, such structure is saved the pre-pressure loading parts that traditional linear ultrasonic motor has, the structure of motor becomes simpler.
Description of drawings
Fig. 1 is the structural representation of paraboloid shape linear ultrasonic motor;
Fig. 2 is the structural representation of the flexible supporting element of paraboloid shape linear ultrasonic motor;
Fig. 3 is the structural representation of composite oscillator;
Fig. 4 is polarization and the signal loading schematic diagram of single stator piezoelectric ceramic piece, and Fig. 4 (b) is the k-k cutaway view of Fig. 4 (a);
Fig. 5 is the schematic diagram of paraboloid shape linear ultrasonic motor system works mode.Wherein, Fig. 5 (a) is the schematic diagram of the symmetrical operation mode of stator, the schematic diagram of Fig. 5 (b) stator antisymmetry operation mode;
Wherein: 1. stator, 2. mover, 3. flexible supporting element, 11. elastomers, 12. piezoelectric ceramic pieces, 13. drive foot, 31. circular arc supports, 32. flexible hinges, 33. fixtures.
Embodiment
Accompanying drawing discloses the structural representation of a preferred embodiment of the invention without limitation, explains technical scheme of the present invention below with reference to accompanying drawing.
Embodiment
A kind of paraboloid shape linear ultrasonic motor of the present embodiment as Figure 1-3, the mover 2 that comprises stator 1 and a column structure, described its mover 2 is a tubular ceramic bar, described stator 1 is formed in parallel by the individual composite oscillator of n (n 〉=3), described composite oscillator is connected by flexible supporting element 3, and a described n composite oscillator is placed along circumferential symmetry around mover 2 in the space simultaneously; Described each composite oscillator is made of two angled crossing one another of Langevin-type transducer, and the hatching line of single composite oscillator forms paraboloid around axle, these two Langevin-type transducer heads driving foot 13 of combining as a whole and forming composite oscillator simultaneously, and each Langevin-type transducer is comprised of elastomer 11 and piezoelectric ceramic piece 12, described elastomer 11 is called again the stator matrix, the positive pole of described piezoelectric ceramic piece outwardly, negative pole points to the matrix surface of elastomer 11, n composite oscillator is to the power natural equilibrium of mover, whole stator is by the integrated processing of line cutting mode, assurance realizes clamping and does not disturb again its vibration modal frequency each linear ultrasonic motor, also can make stator that mover is had certain precompression.
Described flexible supporting element is two identical cirque structures, described cirque structure comprises circular arc support 31 for fixed stator, apply the flexible hinge 32 of precompression and be used for the fixture 33 of fixing whole motor, and described circular arc support 31, flexible hinge 32, fixture 33 press the successively annular connection of order of flexible hinge 32, circular arc support 31, flexible hinge 32, fixture 33; And described stator 1 is installed between the circular arc support 31 of two cirque structures.
The Langevin-type transducer of the same side of described each composite oscillator is one group, and two groups of Langevin-type transducers utilize phase difference to be
Two encourage simultaneously with sinusoidal signals frequently, drive mover and carry out rectilinear motion at its axial direction.
Described n drives foot circle of formation in the plane take the mover direction of motion as normal direction, and the diameter of described mover is greater than this diameter of a circle.
The intersecting angle of two Langevin-type transducers of described each composite oscillator is between 0 °-180 °.
This motor does not have the special device that applies precompression, and structure is comparatively simple.Fixture is the clip rectangle gripping member with through hole, will motor be assemblied on the external device (ED) by screw afterwards.Overall structure is by integrated the processing of line cutting.
The piezoelectric vibrator of stator is divided into two groups, and namely the piezoelectric vibrator on each composite oscillator top is the A item, and the piezoelectric vibrator of bottom is the B item.Utilize phase difference to be
Two encourage simultaneously two groups of piezoelectric vibrators with sinusoidal signals frequently, thereby excite respectively two mode of oscillations of composite oscillator, these two diaphragm states' superpositions produce elliptic motion so that drive the particle on foot surface, drive mover and carry out rectilinear motion at its axial direction.Be the polarization of piezoelectric ceramic piece and load schematic diagram such as Fig. 4.Each composite oscillator is intersected at a certain angle by two Langevin-type transducers and forms, and utilizes phase difference
Same frequency sinusoidal signal encourage simultaneously two piezoelectric vibrators to excite respectively two mode of oscillations of stator, these two diaphragm states' superpositions are so that drive on the sufficient end face each particle and produce elliptic motion and promote the motion of mover continuous linear.When pumping signal is opposite, can realize the opposite direction rectilinear motion of mover.N composite oscillator adopts identical type of drive (with frequency, homophase), drives mover and moves to same direction, improved power output and power output, and improved space availability ratio.
Two operation modes of each composite oscillator as shown in Figure 5.Fig. 5 (a) illustrates, two piezoelectric vibrators of composite oscillator are done longitudinal extension vibration in the same way, synthesizes and moves up and down driving the foot place.Fig. 5 (b) illustrates, two piezoelectric vibrators of composite oscillator are done reverse longitudinal extension vibration, synthesizes side-to-side movement driving the foot place.
The above by reference to the accompanying drawings preferred specific embodiment of described the present invention only is used for the explanation embodiments of the present invention; rather than as the restriction to aforementioned goal of the invention and claims content and scope; any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment all still belong to the technology of the present invention and rights protection category.
Claims (5)
1. paraboloid shape linear ultrasonic motor, the mover (2) that comprises stator (1) and a column structure, it is characterized in that: described stator (1) is formed in parallel by the individual composite oscillator of n (n 〉=3), described composite oscillator is connected by flexible supporting element (3), and a described n composite oscillator is placed along circumferential symmetry around mover (2) in the space simultaneously; Described each composite oscillator is made of two angled crossing one another of Langevin-type transducer, and the hatching line of single composite oscillator forms paraboloid around axle, these two Langevin-type transducer heads driving foot (13) of combining as a whole and forming composite oscillator simultaneously, and each Langevin-type transducer is comprised of elastomer (11) and piezoelectric ceramic piece (12), the positive pole of described piezoelectric ceramic piece outwardly, negative pole points to the matrix surface of elastomer (11).
2. described paraboloid shape linear ultrasonic motor according to claim 1, it is characterized in that: described flexible supporting element is two identical cirque structures, described cirque structure comprises the circular arc support (31) for fixed stator, be used for fixed stator and apply the flexible hinge (32) of precompression and be used for the fixture (33) of fixing whole motor, described circular arc support (31), flexible hinge (32), fixture (33) is pressed flexible hinge (32), circular arc support (31), flexible hinge (32), the order of fixture (33) successively annular connects; And described stator (1) is installed between the circular arc support (31) of two cirque structures.
3. described paraboloid shape linear ultrasonic motor according to claim 1, it is characterized in that: the Langevin-type transducer of the same side of described each composite oscillator is one group, two groups of Langevin-type transducers utilize phase difference to be
Two encourage simultaneously with sinusoidal signals frequently, drive mover and carry out rectilinear motion at its axial direction.
4. described paraboloid shape linear ultrasonic motor according to claim 1 is characterized in that: described n drives foot form a circle in the plane take the mover direction of motion as normal direction, and the diameter of described mover is greater than this diameter of a circle.
5. described paraboloid shape linear ultrasonic motor according to claim 1, it is characterized in that: the intersecting angle of two Langevin-type transducers of described each composite oscillator is between 0 °-180 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210433197.9A CN102931871B (en) | 2012-11-02 | 2012-11-02 | A kind of paraboloid shape linear ultrasonic motor |
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| CN201210433197.9A CN102931871B (en) | 2012-11-02 | 2012-11-02 | A kind of paraboloid shape linear ultrasonic motor |
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| CN102931871A true CN102931871A (en) | 2013-02-13 |
| CN102931871B CN102931871B (en) | 2016-05-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104578898A (en) * | 2014-12-05 | 2015-04-29 | 南京航空航天大学 | Inertial piezoelectric ultrasonic motor and control method thereof |
| CN109698638A (en) * | 2019-02-14 | 2019-04-30 | 南京工程学院 | A kind of parallel-connection driving type single-phase linear supersonic motor |
| CN115890748A (en) * | 2023-02-20 | 2023-04-04 | 季华实验室 | Ultrasonic motor, clamping manipulator and excitation method thereof |
Citations (5)
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| JP2000152671A (en) * | 1998-11-05 | 2000-05-30 | Japan Science & Technology Corp | Ultrasonic motor |
| JP2003143879A (en) * | 2001-10-29 | 2003-05-16 | Mitsubishi Heavy Ind Ltd | Actuator |
| CN101656489A (en) * | 2009-09-04 | 2010-02-24 | 华南农业大学 | Linear ultrasonic motor with V-shaped prism composite oscillator |
| CN101697460A (en) * | 2009-10-28 | 2010-04-21 | 南京航空航天大学 | Two-way single-mode ramp type tower-shaped linear ultrasonic motor and electric excitation method |
| CN202997968U (en) * | 2012-11-02 | 2013-06-12 | 南京航空航天大学 | Oval paraboloid-shaped linear ultrasonic electromotor |
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2012
- 2012-11-02 CN CN201210433197.9A patent/CN102931871B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000152671A (en) * | 1998-11-05 | 2000-05-30 | Japan Science & Technology Corp | Ultrasonic motor |
| JP2003143879A (en) * | 2001-10-29 | 2003-05-16 | Mitsubishi Heavy Ind Ltd | Actuator |
| CN101656489A (en) * | 2009-09-04 | 2010-02-24 | 华南农业大学 | Linear ultrasonic motor with V-shaped prism composite oscillator |
| CN101697460A (en) * | 2009-10-28 | 2010-04-21 | 南京航空航天大学 | Two-way single-mode ramp type tower-shaped linear ultrasonic motor and electric excitation method |
| CN202997968U (en) * | 2012-11-02 | 2013-06-12 | 南京航空航天大学 | Oval paraboloid-shaped linear ultrasonic electromotor |
Non-Patent Citations (1)
| Title |
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| 胡宁，姚志远，耿冉冉，叶明: "直线超声波电动机定子和夹持元件的一体化设计", 《微特电机》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104578898A (en) * | 2014-12-05 | 2015-04-29 | 南京航空航天大学 | Inertial piezoelectric ultrasonic motor and control method thereof |
| CN104578898B (en) * | 2014-12-05 | 2017-01-25 | 南京航空航天大学 | Inertial piezoelectric ultrasonic motor and control method thereof |
| CN109698638A (en) * | 2019-02-14 | 2019-04-30 | 南京工程学院 | A kind of parallel-connection driving type single-phase linear supersonic motor |
| CN115890748A (en) * | 2023-02-20 | 2023-04-04 | 季华实验室 | Ultrasonic motor, clamping manipulator and excitation method thereof |
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| CN102931871B (en) | 2016-05-04 |
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Granted publication date: 20160504 Termination date: 20171102 |