CN103117675B - The high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation - Google Patents
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Abstract
The high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation.Belong to ultrasonic vibration application.Driving the output performance of ultrasound electric machine in order to improve screw thread pair further, producing larger thrust, improve the positioning precision of motor.Described ultrasound electric machine mainly comprises composite type ultrasonic vibrator, linear actuators, screw thread pair driving element and the threaded output shaft that two or more can work alone, flat side in excited main body or groove internal fixtion have exciting element, the both ends of the surface of linear brake compress mounted in pairing mode in adjacent two ultrasonic vibrators, threaded output shaft is connected to export with two head end type ultrasonic vibrators and at least one female threaded shaft external threading and rotates and rectilinear motion, elongates or shortens by control linear actuator the locking realized between ultrasonic vibrator and threaded output shaft.The present invention can realize flexibility and export, for fields such as Aero-Space, auto industry, automation, medicine equipment, optical drive and Precision Position Location Systems.
Description
Technical field
The invention belongs to ultrasonic vibration application, be specifically related to the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation.
Background technology
The screw thread pair of column stator (also claiming ultrasonic vibrator) flexural vibration mode is utilized to drive ultrasound electric machine mainly through exciting at least two flexural vibration modes on stator space based on ultrasound-driven principle, utilize the inner surface screw thread pair being coupling in stator of vibration to produce and drive row ripple, the rotation-rectilinear motion realizing threaded rod output shaft exports.Such screw thread pair drives ultrasound electric machine to have, and structure is simple, power output/quality is larger than density, be easy to microminiaturized, positioning precision comparatively high.
At present, ultrasound electric machine is driven to have several typical structure based on screw thread pair: stator is that the in-plane bending vibration modal coupling that utilizes of polyhedral structure drives the screw thread driven polyhedron ultrasonic motor of row ripple, if the patent No. is CN1767347A, CN1964175A and CN101364775A.Utilize the screw drive type ultrasound electric machine of ring-type superthin structure stator in-plane bending vibration mode standing wave drive, if the patent No. is CN101056073B.In order to reduce the resonance operating frequency of motor stator, propose the screw linear motor of the Piezoelectric anisotropy bent beam driving that a kind of stator adopts one end of cantilever beam structure clamped, if the patent No. is CN200910080339.6.Such motor mainly utilizes the coupling of the orthogonal space flexural vibration mode of column cantilever beam structure stator to produce and drives row ripple, realizes the movement output of output shaft, it is paste the metal pipe type of piezoelectric patches and the ultrasound waveguide screw motor of piezoelectricity tubular type two type that another kind has the screw drive type column rotation-linear ultrasonic motor representing meaning to mainly contain stator, if the patent No. is US2006049720-A1, US2005258714-A1, US7170214-B2, US7309943-B2, CN101040395A and CN1879232A, spatially orthogonal two first-order bending vibrations of the cylindrical stator that this ultrasound waveguide screw motor mainly utilizes two ends freely to retrain intercouple, produce at the inner surface of stator free end and drive row ripple, stator and output shaft are by screw thread pair transmission, rotation-the rectilinear motion realizing output shaft under the effect of axial load power exports, the many employings of piezoelectric element that screw drive type ultrasonic motor stator mentioned is above used
d 31, there is certain advantage at the microminiaturized manufacture view of motor in vibration mode, particularly for ultrasound waveguide screw motor, this Advantages found obtains more obvious, but inevitable must exist the less practical problem of power output.In order to improve the power output of motor, improving load characteristic, having occurred that a class utilizes piezoelectric element
d 33the piezoelectric plate-sandwiched rotary linear ultrasonic motor of vibration mode, if the patent No. is CN200710304683.X and CN201110304078.9, utilizes the piezoelectricity thread drive linear ultrasound electric machine of MODAL TRANSFORMATION OF A type, if the patent No. is CN201110120487.3.
At present, double thread pair drives ultrasound electric machine, need constantly by adopting new method, new design and structure and utilizing the approach such as different vibration mode drivings to improve the output performance of ultrasound electric machine, object mainly improves output force and moment, improve revolution and linear running precision and positioning precision, reduce circular runout and the motor range error of motor, strengthen running stability and dependability, eliminate the hysterisis error driving screw thread pair, improve motor performance diversity and export with flexible.
Summary of the invention
The object of this invention is to provide the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation, the present invention can improve the output performance that screw thread pair drives ultrasound electric machine further, improve the power output/torque factor of motor, eliminate driving error between screw thread pair, improve revolution or the linear positions of motor.
The technical scheme that the present invention takes for achieving the above object is:
The high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation, the high thrust precision positioning ultrasound electric machine of described many element combination formula ultrasonic vibrator excitation mainly comprises threaded output shaft, at least three ultrasonic vibrators, at least two linear actuators and multiple exciting element, ultrasonic vibrator is cylindrical spring body, at least three ultrasonic vibrators are coaxial and in word order, at least three ultrasonic vibrators comprise at least three excited main bodys and at least four combinations locking end, coaxial and one end being positioned at the excited main body of end at least three ultrasonic vibrators in word order and a middle part in conjunction with locking end affixed, the two ends of all the other excited main bodys are each affixed with a middle part in conjunction with locking end, in conjunction with locking end for giving prominence to disk-like structure, each excited body interior center is provided with screwed hole, eachly be provided with reentrant cylindrical cavity in conjunction with locking end center, for built-in installation linear actuators, the two basic change locking end compact siro spinning technology of adjacent two ultrasonic vibrators by being disposed adjacent, screwed hole is coaxial with corresponding reentrant cylindrical cavity and communicate and arrange, uniformly in the circumferential lateral surface of each excited main body be fixed with multiple exciting element, for exciting ultrasonic vibrator, linear brake is arranged in two corresponding reentrant cylindrical cavities, linear brake is provided with hollow cylindrical hole, threaded output shaft through linear brake hollow cylindrical hole and be threaded with ultrasonic vibrator to export and rotate and rectilinear motion, the locking realized between ultrasonic vibrator and threaded output shaft is elongated or shortened by control linear actuator.
Uniform flat side or the groove being processed with four symmetrical configuration quadrate orientation in the circumferential lateral surface of each excited main body, the quantity of exciting element is consistent with the quantity of flat side or groove, on each flat side or groove internal fixtion exciting element.
Described linear brake is formed by piezoelectric pile lamination assembled package, and the both ends of the surface of linear brake compress mounted in pairing mode in two reentrant cylindrical cavities of corresponding setting.
The high thrust precision positioning ultrasound electric machine of described many element combination formula ultrasonic vibrator excitation mainly comprises threaded output shaft, at least three ultrasonic vibrators, at least two screw thread pair driving elements, at least two linear actuators, at least one internal thread lining and multiple exciting element, ultrasonic vibrator is cylindrical spring body, at least three ultrasonic vibrators are coaxial and in word order, at least three ultrasonic vibrators comprise at least three excited main bodys and at least four combinations locking end, coaxial and one end being positioned at the excited main body of end at least three ultrasonic vibrators in word order and a middle part in conjunction with locking end affixed, the two ends of all the other excited main bodys are each affixed with a middle part in conjunction with locking end, in conjunction with locking end for giving prominence to disk-like structure, the excited body interior center being positioned at end at least three ultrasonic vibrators is provided with screw thread pair driving element installing hole and through hole, all the other excited body interior centers are provided with bush hole, eachly be provided with reentrant cylindrical cavity in conjunction with locking end center, for built-in installation linear actuators, the two basic change locking end compact siro spinning technology of adjacent two ultrasonic vibrators by being disposed adjacent, screw thread pair driving element installing hole is communicated with corresponding reentrant cylindrical cavity by through hole, bush hole communicates with corresponding reentrant cylindrical cavity, uniformly in the circumferential lateral surface of each excited main body be fixed with multiple exciting element, for exciting ultrasonic vibrator, a linear actuators is provided with in two reentrant cylindrical cavities of corresponding setting, linear brake is provided with hollow cylindrical hole, screw thread pair driving element is fastenedly connected mounted in pairing mode in screw thread pair driving element installing hole, internal thread lining is fastenedly connected mounted in pairing mode in bush hole, threaded output shaft through linear brake hollow cylindrical hole and be connected with screw thread pair driving element and female threaded shaft external threading to match to export and rotate and rectilinear motion, the locking realized between ultrasonic vibrator and threaded output shaft is elongated or shortened by control linear actuator.
The material thermal expansion coefficient of described ultrasonic vibrator is less than or equal to the material thermal expansion coefficient of screw thread pair driving element.
Uniform flat side or the groove being processed with four symmetrical configuration quadrate orientation in the circumferential lateral surface of each excited main body, the quantity of exciting element is consistent with the quantity of flat side or groove, on each flat side or groove internal fixtion exciting element.
Described linear brake is formed by piezoelectric pile lamination assembled package, and the both ends of the surface of linear brake compress mounted in pairing mode in two reentrant cylindrical cavities of corresponding setting.
The profile of described screw thread pair driving element is cylindrical or truncated cone-shaped, and screw thread pair driving element installing hole is cylindrical structural hole or conical structure hole.
The present invention relative to the beneficial effect of prior art is:
One, the high thrust precision positioning ultrasound electric machine that many element combination formula ultrasonic vibrator that the present invention proposes encourages, multiple ultrasonic vibrator can combine driving, reach/moment the output of exerting oneself of motor, performance flexibility exports, reduce circular runout and the motor range error of motor, improve the Stability and dependability of motor output performance.This motor drives threaded output shaft by composite type ultrasonic vibrator excitation screw thread pair, utilize the superposition of ultrasonic vibrator excited vibration and be coupled, row ripple is produced in screw thread pair interior threaded surface, the threaded output shaft coordinated with it is driven to rotate, and straight line exports simultaneously, the rotation-rectilinear motion namely realizing threaded output shaft exports.
Two, the high thrust precision positioning ultrasound electric machine that many element combination formula ultrasonic vibrator that the present invention proposes encourages, by the locking function elongated or shortened between ultrasonic vibrator and threaded output shaft of control linear actuator, eliminate the hysterisis error driving screw thread pair, realize the function of ultrasound electric machine precision actuation location.
Three, invention significantly improves such screw thread pair and drive ultrasound electric machine output performance, applying flexible, and realize flexibility output, realize ultrasound electric machine energetically/moment export, reduce kinematic error, and realize the precision actuation of ultrasound electric machine, promote that screw thread pair drives the practicalization of ultrasound electric machine.The present invention has broad application prospects in fields such as Aero-Space, auto industry, automation, medicine equipment, optical drive and Precision Position Location Systems.
Accompanying drawing explanation
Fig. 1 illustrates the main TV structure schematic diagram of the high thrust precision positioning ultrasound electric machine that many element combination formula ultrasonic vibrator of the present invention encourages;
Fig. 2 illustrates the exciting element distribution map of the composite type ultrasonic vibrator of motor described in Fig. 1, and in figure, P is the polarised direction of piezoelectric crystal material;
Fig. 3 (a) illustrates the main cross-sectional schematic that osculant ultrasonic vibrator and exciting element assemble;
Fig. 3 (b) illustrates the main cross-sectional schematic that osculant ultrasonic vibrator and exciting element and internal thread lining assemble;
Fig. 4 illustrates the main TV structure figure after the composite type ultrasonic vibrator decomposition of the ultrasound electric machine described in Fig. 1;
Fig. 5 illustrates the main TV structure figure after the decomposition of many element combination formula ultrasonic vibrator, and screw thread pair driving element installing hole is cylindrical structural hole;
Fig. 6 illustrates the main TV structure figure after the decomposition of many element combination formula ultrasonic vibrator; Screw thread pair driving element installing hole is conical structure hole;
Fig. 7 illustrates the overall structure front view of the high thrust precision positioning ultrasound electric machine that many element combination formula ultrasonic vibrator of the present invention encourages, and adds internal thread lining;
Fig. 8 illustrates the exciting element distribution map of the composite type ultrasonic vibrator of motor described in Fig. 7, and in figure, P is the polarised direction of piezoelectric crystal material.
In figure: piezoelectric pile lamination 1, screw thread pair driving element 2, threaded output shaft 3, exciting element 4, linear actuators 5, reentrant cylindrical cavity 8, hollow cylindrical hole 10, connect locking through hole 12, cylindrical structural hole 14, conical structure hole 15, ultrasonic vibrator 17, excited main body 18, in conjunction with locking end 19, screwed hole 26, internal thread lining 27, screw thread pair driving element installing hole 30, through hole 31, bush hole 32.
Embodiment
Embodiment one: as shown in Figure 1 to Figure 4, the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation, the high thrust precision positioning ultrasound electric machine of described many element combination formula ultrasonic vibrator excitation mainly comprises threaded output shaft 3, at least three ultrasonic vibrators 17, at least two linear actuators 5 and multiple exciting element 4, ultrasonic vibrator 17 is cylindrical spring body, at least three ultrasonic vibrators 17 are coaxial and in word order, at least three ultrasonic vibrators 17 comprise at least three excited main bodys 18 and at least four combinations locking end 19, coaxial and one end being positioned at the excited main body 18 of end at least three ultrasonic vibrators 17 in word order and a middle part in conjunction with locking end 19 affixed, all the other excited main body 18(are also referred to as osculant ultrasonic vibrator) two ends each affixed with a middle part in conjunction with locking end 19, in conjunction with locking end 19 for giving prominence to disk-like structure, each excited main body 18 inside center is provided with screwed hole 26, eachly be provided with reentrant cylindrical cavity 8 in conjunction with locking end 19 center, for built-in installation linear actuators 5, adjacent two ultrasonic vibrators 17 are (each in conjunction with locking end 19 being laid with four connection locking through holes 12 by two basic change locking end 19 compact siro spinning technology be disposed adjacent, connection locking through hole 12 one_to_one corresponding in two basic change locking end 19 is arranged, two basic change locking end 19 is by penetrating the bolt compact siro spinning technology connected in locking through hole 12), screwed hole 26 is coaxial with corresponding reentrant cylindrical cavity 8 and communicate and arrange, uniformly in the circumferential lateral surface of each excited main body 18 be fixed with multiple exciting element 4, for exciting ultrasonic vibrator 17, linear brake 5 is arranged in two corresponding reentrant cylindrical cavities 8, linear brake 5 is provided with hollow cylindrical hole 10, threaded output shaft 3 through linear brake 5 hollow cylindrical hole 10 and be threaded to export with ultrasonic vibrator 17 and rotate and rectilinear motion, the locking realized between ultrasonic vibrator 17 and threaded output shaft 3 is elongated or shortened by control linear actuator 5, this technical scheme eliminates the hysterisis error driving screw thread pair, realize the function of ultrasound electric machine precision actuation location.
In present embodiment, described ultrasonic vibrator 17 is made up of steel alloy, copper alloy, aluminium alloy or titanium alloy material; Described exciting element 4 is made up of piezoelectric crystal material; Described threaded output shaft 3 is made up of copper alloy, steel alloy metalloid or polytetrafluoroethylene class high polymer material.
Embodiment two: as shown in Figure 1 to Figure 4, the high thrust precision positioning ultrasound electric machine of the many element combination formula ultrasonic vibrator excitation described in embodiment one, uniform flat side or the groove being processed with four symmetrical configuration quadrate orientation in the circumferential lateral surface of each excited main body 18, the quantity of exciting element 4 is consistent with the quantity of flat side or groove, on each flat side or groove internal fixtion exciting element 4(exciting element 4 be fixed on flat side or in groove by cold welding or epoxide-resin glue, make ultrasonic vibrator 17 structure compacter).
Embodiment three: as shown in Figure 1 and Figure 4, the high thrust precision positioning ultrasound electric machine of the many element combination formula ultrasonic vibrator excitation described in embodiment one, described linear brake 5 is formed by piezoelectric pile lamination 1 assembled package, and the both ends of the surface of linear brake 5 compress mounted in pairing mode in two reentrant cylindrical cavities 8 of corresponding setting.
Embodiment four: as shown in Fig. 5 to Fig. 8, the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation, the high thrust precision positioning ultrasound electric machine of described many element combination formula ultrasonic vibrator excitation mainly comprises threaded output shaft 3, at least three ultrasonic vibrators 17, at least two screw thread pair driving elements 2, at least two linear actuators 5, at least one internal thread lining 27 and multiple exciting element 4, ultrasonic vibrator 17 is cylindrical spring body, at least three ultrasonic vibrators 17 are coaxial and in word order, at least three ultrasonic vibrators 17 comprise at least three excited main bodys 18 and at least four combinations locking end 19, coaxial and one end being positioned at the excited main body 18 of end at least three ultrasonic vibrators 17 in word order and a middle part in conjunction with locking end 19 affixed, the two ends of all the other excited main bodys 18 are each affixed with a middle part in conjunction with locking end 19, in conjunction with locking end 19 for giving prominence to disk-like structure, excited main body 18 inside center being positioned at end at least three ultrasonic vibrators 17 is provided with screw thread pair driving element installing hole 30 and through hole 31, all the other excited main body 18 inside center are provided with bush hole 32, eachly be provided with reentrant cylindrical cavity 8 in conjunction with locking end 19 center, for built-in installation linear actuators 5, adjacent two ultrasonic vibrators 17 are (each in conjunction with locking end 19 being laid with four connection locking through holes 12 by two basic change locking end 19 compact siro spinning technology be disposed adjacent, connection locking through hole 12 one_to_one corresponding in two basic change locking end 19 is arranged, two basic change locking end 19 is by penetrating the bolt compact siro spinning technology connected in locking through hole 12), screw thread pair driving element installing hole 30 is communicated with corresponding reentrant cylindrical cavity 8 by through hole 31, bush hole 32 communicates with corresponding reentrant cylindrical cavity 8, uniformly in the circumferential lateral surface of each excited main body 18 be fixed with multiple exciting element 4, for exciting ultrasonic vibrator 17, a linear actuators 5 is provided with in two reentrant cylindrical cavities 8 of corresponding setting, linear brake 5 is provided with hollow cylindrical hole 10, screw thread pair driving element 2 is fastenedly connected mounted in pairing mode in screw thread pair driving element installing hole 30, internal thread lining 27 is fastenedly connected mounted in pairing mode in bush hole 32, threaded output shaft 3 through linear brake 5 hollow cylindrical hole 10 and be threaded to match to export with screw thread pair driving element 2 and internal thread axle sleeve 27 and rotate and rectilinear motion, the locking realized between ultrasonic vibrator 17 and threaded output shaft 3 is elongated or shortened by control linear actuator 5, this technical scheme eliminates the hysterisis error driving screw thread pair, realize the function of ultrasound electric machine precision actuation location.
The material thermal expansion coefficient of the ultrasonic vibrator 17 described in present embodiment is less than or equal to the material thermal expansion coefficient of screw thread pair driving element 2.
In present embodiment, described ultrasonic vibrator 17 is made up of steel alloy, copper alloy, aluminium alloy or titanium alloy material; Described exciting element 4 is made up of piezoelectric crystal material; Described threaded output shaft 3 is made up of copper alloy, steel alloy metalloid or polytetrafluoroethylene class high polymer material.
Embodiment five: as shown in Fig. 5 to Fig. 8, the high thrust precision positioning ultrasound electric machine of the many element combination formula ultrasonic vibrator excitation described in embodiment four, uniform flat side or the groove being processed with four symmetrical configuration quadrate orientation in the circumferential lateral surface of each excited main body 18, the quantity of exciting element 4 is consistent with the quantity of flat side or groove, on each flat side or groove internal fixtion exciting element 4(exciting element 4 be fixed on flat side or in groove by cold welding or epoxide-resin glue, make ultrasonic vibrator 17 structure compacter).
Embodiment six: as shown in Figures 5 to 7, the high thrust precision positioning ultrasound electric machine of the many element combination formula ultrasonic vibrator excitation described in embodiment four, described linear brake 5 is formed by piezoelectric pile lamination 1 assembled package, and the both ends of the surface of linear brake 5 compress mounted in pairing mode in two reentrant cylindrical cavities 8 of corresponding setting.
Embodiment seven: as shown in Figures 5 to 7, the high thrust precision positioning ultrasound electric machine of the many element combination formula ultrasonic vibrator excitation described in embodiment four, the profile of described screw thread pair driving element 2 is cylindrical or truncated cone-shaped, and screw thread pair driving element installing hole 30 is cylindrical structural hole 14 or conical structure hole 15.
The ultrasonic vibrator being positioned at end in present embodiment and the ultrasonic vibrator being positioned at centre can replace with the ultrasonic vibrator of different structure as required respectively to be combined into composite type ultrasonic vibrator, the quantity being positioned at middle ultrasonic vibrator can be multiple, to realize more energetically/moment output.
Embodiment: the exciting mode for the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation of the present invention's proposition is described for the precision positioning ultrasound electric machine described in embodiment one.Many element combination formula ultrasonic vibrator can adopt three rank or corresponding more high-order flexural vibration mode to carry out driving work.Many element combination formula ultrasonic vibrator exciting element used adopts d31 vibration mode, and the type piezoelectric patches through-thickness polarizes, and upper and lower surface is coated with energising galactic pole, during energising excitation strain and deformation direction and polarised direction perpendicular.Each ultrasonic vibrator in many element combination formula ultrasonic vibrator exciting element used is an exciting group, is respectively 4a, 4b, 4c and 4d, and wherein 4a and 4c leads to sin(ω t), 4b and 4d leads to sin(ω t+ φ); Adjacent ultrasonic vibrator exciting element used is another exciting group, and correspondence is also respectively 4a, 4b, 4c and 4d, wherein logical-sin(ω the t of 4a and 4c), 4b and 4d leads to-sin(ω t+ φ); The excitation ac signal that can be expressed as the exciting element at the correspondence position place of many element combination formula ultrasonic vibrator in composite type ultrasonic vibrator is adjacent with frequently reverse; Self ground connection of ultrasonic vibrator metallic member; Wherein the frequencies omega of this ac signal generally should match with the first-order bending vibration resonance frequency of two element combination formula ultrasonic vibrator or close, and phase difference is generally 90 or 270 degree, and the rotation-rectilinear motion that can realize the both forward and reverse directions of threaded output shaft exports.
Precision positioning ultrasound electric machine for the many element combination formula ultrasonic vibrator excitation described in the present embodiment realizes locking function and drives the step mode of the hysterisis error of screw thread pair can be described as with elimination: elongating or shortening of linear actuators is then passed through to adopt piezoelectric element d33 vibration mode, the type piezoelectric patches through-thickness polarizes, the energising galactic pole that upper and lower surface is coated with, during energising excitation, strain and deformation direction parallel with polarised direction and realize.When passing to the direct voltage of certain numerical value to linear actuators, linear actuators then can produce and elongate or shorten quiet distortion accordingly; Also can pass to the direct voltage of certain numerical value to many element combination formula ultrasonic vibrator simultaneously, many element combination formula ultrasonic vibrator is made to produce corresponding shortening or extend quiet distortion, reach the locking function between many element combination formula ultrasonic vibrator and threaded output shaft thus, eliminate the hysterisis error driving screw thread pair, realize the function of ultrasound electric machine precision actuation location.
Claims (6)
1. the high thrust precision positioning ultrasound electric machine of the ultrasonic vibrator of element combination formula more than kind excitation, comprise threaded output shaft (3) and multiple exciting element (4), it is characterized in that: the high thrust precision positioning ultrasound electric machine of described many element combination formula ultrasonic vibrator excitation also comprises at least three ultrasonic vibrators (17) and at least two linear actuators (5), ultrasonic vibrator (17) is cylindrical spring body, at least three ultrasonic vibrators (17) are coaxial and in word order, at least three ultrasonic vibrators (17) comprise at least three excited main bodys (18) and at least four combinations locking end (19), each excited main body (18) inside center is provided with screwed hole (26), uniformly in the circumferential lateral surface of each excited main body (18) be fixed with multiple exciting element (4), for exciting ultrasonic vibrator (17), coaxial and one end being positioned at the excited main body (18) of end at least three ultrasonic vibrators (18) in word order and a middle part in conjunction with locking end (19) affixed, the two ends of all the other excited main bodys (18) are each affixed with a middle part in conjunction with locking end (19), in conjunction with locking end (19) for giving prominence to disk-like structure, eachly be provided with reentrant cylindrical cavity (8) in conjunction with locking end (19) center, described linear brake (5) is formed by piezoelectric pile lamination (1) assembled package, the both ends of the surface of linear brake (5) compress mounted in pairing mode in two reentrant cylindrical cavities (8) of corresponding setting, two basic change locking end (19) compact siro spinning technology of adjacent two ultrasonic vibrators (17) by being disposed adjacent, screwed hole (26) is coaxial with corresponding reentrant cylindrical cavity (8) and communicate and arrange, linear brake (5) is provided with hollow cylindrical hole (10), threaded output shaft (3) through linear brake (5) hollow cylindrical hole (10) and be threaded to export with ultrasonic vibrator (17) and rotate and rectilinear motion, the locking realized between ultrasonic vibrator (17) and threaded output shaft (3) is elongated or shortened by control linear actuator (5).
2. the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation as claimed in claim 1, it is characterized in that: uniform flat side or the groove being processed with four symmetrical configuration quadrate orientation in the circumferential lateral surface of each excited main body (18), the quantity of exciting element (4) is consistent with the quantity of flat side or groove, on each flat side or groove internal fixtion exciting element (4).
3. the high thrust precision positioning ultrasound electric machine of the ultrasonic vibrator of element combination formula more than kind excitation, comprise threaded output shaft (3), at least two screw thread pair driving elements (2), at least one internal thread lining (27) and multiple exciting element (4), it is characterized in that: the high thrust precision positioning ultrasound electric machine of described many element combination formula ultrasonic vibrator excitation also comprises at least three ultrasonic vibrators (17) and at least two linear actuators (5), ultrasonic vibrator (17) is cylindrical spring body, at least three ultrasonic vibrators (17) are coaxial and in word order, at least three ultrasonic vibrators (17) comprise at least three excited main bodys (18) and at least four combinations locking end (19), coaxial and one end being positioned at the excited main body (18) of end at least three ultrasonic vibrators (17) in word order and a middle part in conjunction with locking end (19) affixed, the two ends of all the other excited main bodys (18) are each affixed with a middle part in conjunction with locking end (19), in conjunction with locking end (19) for giving prominence to disk-like structure, excited main body (18) inside center being positioned at end at least three ultrasonic vibrators (17) is provided with screw thread pair driving element installing hole (30) and through hole (31), all the other excited main body (18) inside center are provided with bush hole (32), eachly be provided with reentrant cylindrical cavity (8) in conjunction with locking end (19) center, described linear brake (5) is formed by piezoelectric pile lamination (1) assembled package, the both ends of the surface of linear brake (5) compress mounted in pairing mode in two reentrant cylindrical cavities (8) of corresponding setting, two basic change locking end (19) compact siro spinning technology of adjacent two ultrasonic vibrators (17) by being disposed adjacent, screw thread pair driving element installing hole (30) is communicated with corresponding reentrant cylindrical cavity (8) by through hole (31), bush hole (32) communicates with corresponding reentrant cylindrical cavity (8), uniformly in the circumferential lateral surface of each excited main body (18) be fixed with multiple exciting element (4), for exciting ultrasonic vibrator (17), linear brake (5) is provided with hollow cylindrical hole (10), screw thread pair driving element (2) is fastenedly connected mounted in pairing mode in screw thread pair driving element installing hole (30), internal thread lining (27) is fastenedly connected mounted in pairing mode in bush hole (32), threaded output shaft (3) through linear brake (5) hollow cylindrical hole (10) and be threaded to match to export with screw thread pair driving element (2) and internal thread axle sleeve (27) and rotate and rectilinear motion, the locking realized between ultrasonic vibrator (17) and threaded output shaft (3) is elongated or shortened by control linear actuator (5).
4. the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation as claimed in claim 3, is characterized in that: the material thermal expansion coefficient of described ultrasonic vibrator (17) is less than or equal to the material thermal expansion coefficient of screw thread pair driving element (2).
5. the high thrust precision positioning ultrasound electric machine of the many element combination formula ultrasonic vibrator excitation as described in claim 3 or 4, it is characterized in that: uniform flat side or the groove being processed with four symmetrical configuration quadrate orientation in the circumferential lateral surface of each excited main body (18), the quantity of exciting element (4) is consistent with the quantity of flat side or groove, on each flat side or groove internal fixtion exciting element (4).
6. the high thrust precision positioning ultrasound electric machine of many element combination formula ultrasonic vibrator excitation as claimed in claim 3, it is characterized in that: the profile of described screw thread pair driving element (2) is cylindrical or truncated cone-shaped, screw thread pair driving element installing hole (30) is cylindrical structural hole (14) or conical structure hole (15).
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| JP6326275B2 (en) * | 2014-04-25 | 2018-05-16 | オリンパス株式会社 | Ultrasonic transducer and ultrasonic medical device |
| CN105305873A (en) * | 2015-01-06 | 2016-02-03 | 长春工业大学 | Longitrorse complex excitation ultrasonic motor, driving platform and driving method thereof |
| CN105391335A (en) * | 2015-01-06 | 2016-03-09 | 长春工业大学 | SMD-type mode switching ultrasonic motor, driving platform, and driving method |
| CN106911263B (en) * | 2015-12-23 | 2020-04-03 | 上海交通大学 | Multi-shaft piezoelectric micromotor |
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| CN202231635U (en) * | 2011-09-23 | 2012-05-23 | 辽宁工业大学 | Double-vibrator parallel travelling wave type ultrasonic motor |
| CN102843064A (en) * | 2012-09-29 | 2012-12-26 | 哈尔滨工业大学 | Flexible replaceable screw thread pair driving ultrasonic motor |
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| JPH05168258A (en) * | 1991-12-12 | 1993-07-02 | Aisan Ind Co Ltd | Ultrasonic linear motor |
| CN202231635U (en) * | 2011-09-23 | 2012-05-23 | 辽宁工业大学 | Double-vibrator parallel travelling wave type ultrasonic motor |
| CN102843064A (en) * | 2012-09-29 | 2012-12-26 | 哈尔滨工业大学 | Flexible replaceable screw thread pair driving ultrasonic motor |
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