CN103199735A - Bi-directional driving rotary ultrasonic motor - Google Patents
Bi-directional driving rotary ultrasonic motor Download PDFInfo
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- CN103199735A CN103199735A CN201310164612XA CN201310164612A CN103199735A CN 103199735 A CN103199735 A CN 103199735A CN 201310164612X A CN201310164612X A CN 201310164612XA CN 201310164612 A CN201310164612 A CN 201310164612A CN 103199735 A CN103199735 A CN 103199735A
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Abstract
The invention discloses a bi-directional driving rotary ultrasonic motor. The motor comprises a rotor and a stator, wherein the rotor comprises a turntable and a friction layer which is arranged on the surface of the turntable; the stator comprises a bracket, two same ultrasonic vibration transducers which are fixed through the bracket, two same elliptical vibration mode converters and two same friction driving blocks which are arranged at the front ends of the elliptical vibration mode transducers; the elliptical vibration mode converters are arranged at the front ends of the ultrasonic transducers, and are respectively of a cylindrical shape on the whole, three alternately distributed rectangular notches are formed in the upper and lower sides of each elliptical vibration mode converter, so that the longitudinal ultrasonic vibration generated by each ultrasonic vibration transducer is converted into the elliptical vibration of the tail end of each elliptical vibration mode converter and the friction driving blocks; and when the two ultrasonic vibration transducers respectively work, the rotor is driven to do bidirectional continuous rotary movement.
Description
Technical field
The present invention relates to utilize the ultrasound electric machine field of piezoelectric ceramic inverse piezoelectric effect, especially relate to a kind of bi-directional drive rotary ultrasonic motor.
Background technology
Rotary ultrasonic motor is a kind of novel electrical micro-machine that develops rapidly and use the eighties in 20th century, be to utilize the inverse piezoelectric effect of piezoelectric to realize the mechanical-electric coupling device that electric energy-mechanical energy is changed, by the rubbing action between stator and the rotor, the macroscopic view that elastomeric micro breadth oscillation is converted to rotor rotatablely moves, and directly drives load.Because of advantages such as it has that volume is little, in light weight, low-speed big, noise are little, response is fast, positioning accuracy is high, no electromagnetic interference and environmental suitability are strong, obtained increasingly extensive application in technical fields such as medical treatment, Aero-Space, robot, MEMS.
Problems such as in the existing rotary-type ultrasound electric machine, mainly adopt the outer flexural vibration mode of face to be combined into the capable ripple of end face, and drive the rotor rotation at present, the ubiquity driving moment is little, and axial volume is big, the interior external diameter contact zone wearing and tearing difference of rotor is big; In addition, even adopted in plane vibration mode, in order to apply the radial tightening power in the face, the disk of oscillator or rotor or annulus are made two semi-discs or semicircular ring, middle be connected into disk or annulus to apply the radial tightening power in the face by spring, also be difficult at present realize big torque, and functional reliability is low.Be CN101030740A at publication number, denomination of invention is in the patent documentation of " bending-rotation ultrasonic motor of single-phase driving ", the structure that discloses a kind of body is the single-phase driving standing wave rotary ultrasonic motor of taper, this motor relies on six piezoelectric ceramic pieces that are superimposed together vertically to excite the vibration of stator, and six piezoelectric ceramic pieces rely on clamp nut and last item cover to be fixed on the axis.Though this motor has advantages such as output torque is bigger, but six piezoelectric ceramic pieces of motor will stagger mutually by the polarization subregion and 60 install, its complex structure, and in the compaction process of piezoelectric ceramic piece, misplace because the screw (revolving force) of clamp nut very easily causes between the piezoelectric ceramic piece, be difficult to guarantee the specification requirements of dislocation 60 degree between the adjacent piezoelectric ceramic piece; In addition, be not with any positioner between this motor stator and the rotor, this makes stator and rotor contact position precision between the two be affected, and then influences the stability of motor torque and speed; Thereby there is complex structure in this type of rotary ultrasonic motor, to the contact position required precision height between stator and the rotor, makes difficulty, the defectives such as poor stability of motor torque and speed are installed.
Summary of the invention
The invention provides a kind of novel bi-directional drive rotary ultrasonic motor, purpose is the deficiency that exists in the above-mentioned rotary ultrasonic motor in order to overcome.
A kind of bi-directional drive rotary ultrasonic motor comprises stator and rotor, and rotor comprises rotating disk and is arranged on the frictional layer of disc surfaces; Described stator comprises support, by support fixing two identical ultrasonic vibration transducers, two identical elliptical vibration MODAL TRANSFORMATION OF A device friction-driven pieces identical with two; The ultrasonic vibration transducer comprises that bolt reaches back shroud, piezoelectric ceramic piece, electrode slice and the front shroud that is set in successively on the bolt, front shroud and bolt are fixed back shroud, piezoelectric ceramic piece, electrode slice and front shroud by thread connection, constituted the power conversion part of bi-directional drive rotary ultrasonic motor, the ultrasonic electric energy of A ultrasonic-frequency power supply and the output of B ultrasonic acoustic-electric source has been converted to the ultrasonic vibrational energy of ultrasonic transducer.
Described elliptical vibration MODAL TRANSFORMATION OF A device and front shroud are made into the front end that an integral body is arranged on front shroud, perhaps utilize an additional connection double-screw bolt elliptical vibration MODAL TRANSFORMATION OF A device to be connected in the front end of front shroud, elliptical vibration MODAL TRANSFORMATION OF A device integral body is cylindrical, it offers three rectangular indentation that are dislocatedly distributed in both sides up and down, the purpose that rectangular indentation is set is in order to change the mode of oscillation of ultrasonic vibration transducer, make its extensional vibration model frequency and flexural vibration mode frequency approaching or equal, the longitudinal ultrasonic that the ultrasonic vibration transducer is produced vibrates the vertical composite ultrasonic elliptical vibratory of bending that is converted to elliptical vibration MODAL TRANSFORMATION OF A device end.
Described friction-driven piece is arranged on the front end of elliptical vibration MODAL TRANSFORMATION OF A device by welding or bonding way, and the friction-driven piece contacts with frictional layer on the rotating disk.Two ultrasonic vibration transducers are linked together by the ring flange of support and ultrasonic vibration transducer, and support is used for fixing stator and the precompression device is installed, stator is connected formation bi-directional drive rotary ultrasonic motor in aggregates with rotor, angle is 20 degree ~ 160 degree between two ultrasonic vibration transducer axis after ring flange and support are fixing.
Before not adding ultrasonic voltage signal driving, the friction-driven piece of two elliptical vibration MODAL TRANSFORMATION OF A device front ends contacts with rotor simultaneously.
During driving, one of them ultrasonic transducer suspends, the work of another one ultrasonic transducer.Namely be: send into the direct current negative pressure signal of telecommunication to the ultrasonic transducer electrode slice that needs suspend, utilize piezoelectric effect to make this ultrasonic vibration transducer axial shrinkage, and then the friction-driven piece of elliptical vibration MODAL TRANSFORMATION OF A device front end is suspended on the rotor.The ultrasonic transducer that need drive work to another one is sent into ultrasonic sinusoidal electric signals, as the ultrasonic signal of telecommunication of ultrasonic-frequency power supply output being linked into the electrode slice of ultrasonic vibration transducer, this ultrasonic vibration transducer namely produces ultrasonic vibration, after ultrasonic vibrational energy is delivered to elliptical vibration MODAL TRANSFORMATION OF A device end from the ultrasonic vibration transducer, be converted to extensional vibration and the compound vertical curved composite ultrasonic elliptical vibratory of flexural vibrations with certain phase difference, namely be converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration MODAL TRANSFORMATION OF A device end; And drive the friction-driven piece and elliptical vibration MODAL TRANSFORMATION OF A device end is done ultrasonic elliptical vibratory together, and then drive rotor and rotatablely move continuously.
When the needs rotor rotatablely moved to another direction, the ultrasonic signal of telecommunication type of drive of two ultrasonic transducers of exchange got final product.Compare the bi-directional drive rotary ultrasonic motor that existing document is introduced, this rotary ultrasonic motor has that power capacity is big, energy conversion efficiency is high, simple in structure, easy to manufacture, advantage such as cost is low, the rigidity of structure is big, control-driven system is simple and vibration performance is stable.
Further, two of described bi-directional drive rotary ultrasonic motor ultrasonic vibration transducers have one group of extensional vibration piezoelectric ceramic piece respectively.
Further, two of described bi-directional drive rotary ultrasonic motor ultrasonic vibration transducers need one road ultrasonic signal of telecommunication excitation respectively.
The present invention has adopted mechanical oscillation MODAL TRANSFORMATION OF A mechanism the extensional vibration of ultrasonic transducer to be converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration MODAL TRANSFORMATION OF A device, simplified the overall structure of bi-directional drive rotary ultrasonic motor, greatly reduce the complexity of vibrational system, manufacturing, assembly difficulty and production cost have been reduced, whole bi-directional drive rotary ultrasonic motor is simple in structure, easy to manufacture, and cost is low; Two of this invention ultrasonic transducers all only need the one road ultrasonic signal of telecommunication to encourage in addition, the control difficulty is low, avoided heterogeneous ultrasonic vibration to be compounded to form the complicated ultrasonic-frequency power supply development cost of elliptical vibration transducer, control circuit and ultrasonic-frequency power supply structure have been simplified, control circuit and ultrasonic-frequency power supply cost have been reduced, control circuit and ultrasonic-frequency power supply volume have been reduced, be easy to realize the microminiaturization of control circuit and ultrasonic-frequency power supply, integrated, improved reliability, service behaviour is more stable, has a extensive future.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is application example schematic diagram of the present invention.
Number in the figure explanation: 1. bolt, 2. back shroud, 3. piezoelectric ceramic piece, 4. electrode slice, 5. front shroud, 6. elliptical vibration MODAL TRANSFORMATION OF A device, 7. rectangular indentation, 8. rotating disk, 9. frictional layer, 10 friction-driven pieces, 11. supports, 12.A ultrasonic-frequency power supply, 13.B ultrasonic-frequency power supply
Embodiment
Shown in Fig. 1,2, a kind of bi-directional drive rotary ultrasonic motor comprises stator and rotor, and rotor comprises rotating disk 8 and is arranged on the frictional layer 9 on rotating disk 8 surfaces; Described stator comprises support 11, passes through two identical ultrasonic vibration transducers, two identical elliptical vibration MODAL TRANSFORMATION OF A device friction-driven pieces identical with two that support 11 is fixed; The ultrasonic vibration transducer comprises that bolt (1) reaches back shroud (2), piezoelectric ceramic piece (3), electrode slice (4) and the front shroud (5) that is set in successively on the bolt (1), front shroud 5 and bolt 1 are fixed back shroud 2, piezoelectric ceramic piece 3, electrode slice 4 and front shroud 5 by thread connection, constituted the power conversion part of bi-directional drive rotary ultrasonic motor, the ultrasonic electric energy of A ultrasonic-frequency power supply 12 and 13 outputs of B ultrasonic acoustic-electric source has been converted to the ultrasonic vibrational energy of ultrasonic transducer.Two ultrasonic vibration transducers of this bi-directional drive rotary ultrasonic motor have one group of extensional vibration piezoelectric ceramic piece 3 respectively, piezoelectric ceramic transducer section diameter 30mm, and piezoelectric ceramic piece 3 materials are PZT-8, are of a size of:
Ф 30 * Ф 15 * 5, the sheet number is 2.
Described elliptical vibration MODAL TRANSFORMATION OF A device 6 and front shroud 5 are made into the front end that an integral body is arranged on front shroud 5, elliptical vibration MODAL TRANSFORMATION OF A device 6 integral body are cylindrical, diameter 15mm, both sides offer three rectangular indentation that are dislocatedly distributed 7 up and down, three rectangular indentation 7 width are 6mm, and the degree of depth is 3mm, and the distance of the centre-to-centre spacing front end face of three rectangular indentation 7 is respectively 15mm, 25mm, 35mm.Described friction-driven piece 10 is by the bonding front end that is arranged on elliptical vibration MODAL TRANSFORMATION OF A device 6, and friction-driven piece 10 contacts with frictional layer 9 on the rotating disk 8.Two ultrasonic vibration transducers are linked together by the ring flange of support 11 and ultrasonic vibration transducer, and support 11 is used for fixing stator and the precompression device is installed, stator is connected formation bi-directional drive rotary ultrasonic motor in aggregates with rotor, angle is 90 degree between two ultrasonic vibration transducer axis after ring flange and support are fixing.
Two ultrasonic transducer natural frequencys of bi-directional drive rotary ultrasonic motor are all 25.32KHz mutually, impedance is respectively 86 and 82 ohm, dynamic electric resistor is 17 and 15 ohm, two ultrasonic vibration transducers need one road ultrasonic signal of telecommunication excitation respectively, A ultrasonic-frequency power supply 12 and B ultrasonic acoustic-electric source 13, its output voltage range is 0-400V, current range is 0-4A, output frequency is 25.32 ± 0.01KHz, and A ultrasonic-frequency power supply 12 and B ultrasonic acoustic-electric source 13 all have the automatic frequency tracking function in designated frequency range.
Before not adding ultrasonic voltage signal driving, the friction-driven piece 10 of two elliptical vibration MODAL TRANSFORMATION OF A device 6 front ends contacts with rotor simultaneously.
During driving, send into the direct current negative pressure signal of telecommunication to the ultrasonic transducer electrode slice that needs suspend, utilize piezoelectric effect to make this ultrasonic vibration transducer axial shrinkage, and then the friction-driven piece 10 of elliptical vibration MODAL TRANSFORMATION OF A device 6 front ends is suspended on the rotor; The ultrasonic transducer that need drive work to another one is sent into ultrasonic sinusoidal electric signals, after the ultrasonic signal of telecommunication of B ultrasonic acoustic-electric source 13 outputs is linked into the electrode slice 4 of ultrasonic vibration transducer, this ultrasonic vibration transducer namely produces ultrasonic vibration, after ultrasonic vibrational energy is delivered to elliptical vibration MODAL TRANSFORMATION OF A device 6 ends from the ultrasonic vibration transducer, be converted to extensional vibration and the compound vertical curved composite ultrasonic elliptical vibratory of flexural vibrations with certain phase difference, namely be converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration MODAL TRANSFORMATION OF A device 6 ends; And drive friction-driven piece 10 and elliptical vibration MODAL TRANSFORMATION OF A device 6 ends are done ultrasonic elliptical vibratory together, and then drive rotor and rotatablely move continuously.Move that system reaches the stable vibration state after 10 minutes, the output voltage in B ultrasonic acoustic-electric source 13 is 240V, and electric current is 1.45A, and diameter is that the edge peripheral linear speed peak value of the rotating disk 8 of 40mm is 56.2mm/s.
The ultrasonic signal of telecommunication type of drive of two ultrasonic transducers of exchange, move that the output voltage of A ultrasonic-frequency power supply 12 is 240V after 10 minutes, electric current is 1.50A, and rotor rotatablely moves to another direction, and its diameter is that the edge peripheral linear speed peak value of the rotating disk 8 of 40mm is 56.9mm/s.
Claims (5)
1. a bi-directional drive rotary ultrasonic motor comprises rotor and stator, and rotor comprises rotating disk and is arranged on the frictional layer of disc surfaces; It is characterized in that: stator comprises support, by support fixing two identical ultrasonic vibration transducers, two identical elliptical vibration MODAL TRANSFORMATION OF A device friction-driven pieces identical with two; The ultrasonic vibration transducer comprises that bolt reaches back shroud, piezoelectric ceramic piece, electrode slice and the front shroud that is set in successively on the bolt, and front shroud and bolt are fixed back shroud, piezoelectric ceramic piece, electrode slice and front shroud by thread connection; Described elliptical vibration MODAL TRANSFORMATION OF A device is arranged on the front end of front shroud, its integral body is cylindrical, both sides offer three rectangular indentation that are dislocatedly distributed up and down, described friction-driven piece is arranged on the front end of elliptical vibration MODAL TRANSFORMATION OF A device, and angle is 20 degree ~ 160 degree between two ultrasonic vibration transducer axis after ring flange and support are fixing.
2. a kind of bi-directional drive rotary ultrasonic motor according to claim 1, it is characterized in that: described elliptical vibration MODAL TRANSFORMATION OF A device and front shroud are made into the front end that an integral body is arranged on front shroud.
3. a kind of bi-directional drive rotary ultrasonic motor according to claim 1 is characterized in that: comprise that also one connects double-screw bolt, is used for elliptical vibration MODAL TRANSFORMATION OF A device is connected in the front end of front shroud.
4. a kind of bi-directional drive rotary ultrasonic motor according to claim 1, it is characterized in that: described friction-driven piece is arranged on the front end of elliptical vibration MODAL TRANSFORMATION OF A device by welding.
5. a kind of bi-directional drive rotary ultrasonic motor according to claim 1, it is characterized in that: described friction-driven piece is by the bonding front end that is arranged on elliptical vibration MODAL TRANSFORMATION OF A device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310164612.XA CN103199735B (en) | 2013-05-08 | 2013-05-08 | A kind of bi-directional drive rotary ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310164612.XA CN103199735B (en) | 2013-05-08 | 2013-05-08 | A kind of bi-directional drive rotary ultrasonic motor |
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| CN103199735A true CN103199735A (en) | 2013-07-10 |
| CN103199735B CN103199735B (en) | 2015-09-02 |
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| CN201310164612.XA Expired - Fee Related CN103199735B (en) | 2013-05-08 | 2013-05-08 | A kind of bi-directional drive rotary ultrasonic motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414372A (en) * | 2013-08-26 | 2013-11-27 | 苏州科技学院 | Two-way driving rotating ultrasonic motor |
| CN104440561A (en) * | 2014-12-09 | 2015-03-25 | 苏州科技学院 | Single-excitation ultrasonic elliptical vibration abrasion wheel dressing device |
| CN108189002A (en) * | 2018-01-23 | 2018-06-22 | 连雪芳 | A kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments |
Citations (5)
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| CN1474503A (en) * | 2003-07-30 | 2004-02-11 | 哈尔滨工业大学 | Supersonic motor standing wave driving vibrator capable of realizing linear or rotary movement |
| CN101572507A (en) * | 2009-06-12 | 2009-11-04 | 清华大学 | Protrudent toothed belt groove longitudinal bending mode conversion dual-rotor ultrasonic motor |
| CN101860259A (en) * | 2010-05-21 | 2010-10-13 | 苏州科技学院 | Single-electrical signal-stimulated rotation ultrasonic motor |
| CN102843065A (en) * | 2012-07-30 | 2012-12-26 | 南京航空航天大学 | Ultrasonic motor with rotating shaft position clearing function |
| CN203225676U (en) * | 2013-05-08 | 2013-10-02 | 苏州科技学院 | Bidirectional driving rotary ultrasonic motor |
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2013
- 2013-05-08 CN CN201310164612.XA patent/CN103199735B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1474503A (en) * | 2003-07-30 | 2004-02-11 | 哈尔滨工业大学 | Supersonic motor standing wave driving vibrator capable of realizing linear or rotary movement |
| CN101572507A (en) * | 2009-06-12 | 2009-11-04 | 清华大学 | Protrudent toothed belt groove longitudinal bending mode conversion dual-rotor ultrasonic motor |
| CN101860259A (en) * | 2010-05-21 | 2010-10-13 | 苏州科技学院 | Single-electrical signal-stimulated rotation ultrasonic motor |
| CN102843065A (en) * | 2012-07-30 | 2012-12-26 | 南京航空航天大学 | Ultrasonic motor with rotating shaft position clearing function |
| CN203225676U (en) * | 2013-05-08 | 2013-10-02 | 苏州科技学院 | Bidirectional driving rotary ultrasonic motor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414372A (en) * | 2013-08-26 | 2013-11-27 | 苏州科技学院 | Two-way driving rotating ultrasonic motor |
| CN103414372B (en) * | 2013-08-26 | 2015-11-25 | 苏州科技学院 | Bi-directional drive rotary ultrasonic motor |
| CN104440561A (en) * | 2014-12-09 | 2015-03-25 | 苏州科技学院 | Single-excitation ultrasonic elliptical vibration abrasion wheel dressing device |
| CN108189002A (en) * | 2018-01-23 | 2018-06-22 | 连雪芳 | A kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments |
| CN108189002B (en) * | 2018-01-23 | 2021-01-01 | 江苏铁锚玻璃股份有限公司 | Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions |
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| CN103199735B (en) | 2015-09-02 |
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