CN103199735B - A kind of bi-directional drive rotary ultrasonic motor - Google Patents
A kind of bi-directional drive rotary ultrasonic motor Download PDFInfo
- Publication number
- CN103199735B CN103199735B CN201310164612.XA CN201310164612A CN103199735B CN 103199735 B CN103199735 B CN 103199735B CN 201310164612 A CN201310164612 A CN 201310164612A CN 103199735 B CN103199735 B CN 103199735B
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- energy converter
- modal transducer
- excitation
- elliptical vibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of bi-directional drive rotary ultrasonic motor, rotor comprises rotating disk and is arranged on the frictional layer of disc surfaces, stator comprises support, two that are fixed by support identical single-excitation ultrasonic oval vibration energy converter, the friction-driven block that two identical elliptical vibration modal transducer are identical with being arranged on two, elliptical vibration modal transducer front end, elliptical vibration modal transducer is arranged on the front end of ultrasonic transducer, its entirety is cylindrical, upper and lower both sides offer three rectangular indentation be dislocatedly distributed, the longitudinal ultrasonic vibration that single-excitation ultrasonic oval vibration energy converter produces is converted to the elliptical vibration of elliptical vibration modal transducer end and friction-driven block, when two single-excitation ultrasonic oval vibration energy converter carry out work respectively, rotor is driven to carry out two-way continuous rotation motion.
Description
Technical field
The present invention relates to the ultrasound electric machine field utilizing piezoelectric ceramic inverse piezoelectric effect, especially relate to a kind of bi-directional drive rotary ultrasonic motor.
Background technology
Rotary ultrasonic motor is the novel electrical micro-machine of one developing rapidly and apply the eighties in 20th century, it is the electric coupling apparatus utilizing the inverse piezoelectric effect of piezoelectric to realize electric energy-mechanic to change, by the rubbing action between stators and rotators, elastomeric micro breadth oscillation is converted to macroscopical rotary motion of rotor, Direct driver load.Because it has that volume is little, lightweight, low-speed big, noise are little, response is fast, positioning precision is high, without electromagnetic interference and the advantage such as environmental suitability is strong, obtains increasingly extensive application in technical fields such as medical treatment, Aero-Space, robot, MEMS.
The problems such as in current existing rotary-type ultrasound electric machine, the flexural vibration mode outside main employing face is combined into the capable ripple of end face, and drives rotor turns, and ubiquity driving moment is little, and axial volume is large, wearing and tearing difference in the internal-and external diameter contact zone of rotor is large; In addition, even if having employed in plane vibration mode, in order to can radial tightening power in applying face, the disk of oscillator or rotor or annulus make two semi-discs or semicircular ring, middle be connected into disk or annulus with the radial tightening power in applying face by spring, also be difficult to realize large torque at present, and functional reliability is low.Be CN101030740A at publication number, denomination of invention is in the patent documentation of " bending-rotation ultrasonic motor of singlephase drive ", the structure disclosing a kind of body is the singlephase drive standing wave rotary ultrasonic motor of taper, this motor relies on six piezoelectric ceramic pieces be 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 axis.Although this motor has the advantages such as output torque is larger, but six of motor piezoelectric ceramic pieces will to stagger 60 installations mutually by polarization subregion, its complex structure, and misplace because the screw (revolving force) of clamp nut very easily causes between piezoelectric ceramic piece in the compaction process of piezoelectric ceramic piece, be difficult to the technical requirement ensureing dislocation 60 degree between adj acent piezoelectric potsherd; In addition, be not with any positioner between this motor stator and rotor, this makes stator and rotor contact position precision between the two be affected, and then affects the stability of motor torque and speed; Thus, there is complex structure in this type of rotary ultrasonic motor, high to the contact position required precision between stator and rotor, the defects such as making and installation is more difficult, the poor stability of motor torque and speed.
Summary of the invention
The invention provides a kind of novel bi-directional drive rotary ultrasonic motor, object is to overcome the deficiency existed in above-mentioned rotary ultrasonic motor.
A kind of bi-directional drive rotary ultrasonic motor, comprises stators and rotators, and rotor comprises rotating disk and is arranged on the frictional layer of disc surfaces; The single-excitation ultrasonic oval vibration energy converter that described stator comprises support, fixed by support two identical, the friction-driven block that two identical elliptical vibration modal transducer are identical with two; Single-excitation ultrasonic oval vibration energy converter comprises bolt and is set in back shroud, piezoelectric ceramic piece, electrode slice and the front shroud on bolt successively, back shroud, piezoelectric ceramic piece, electrode slice and front shroud are fixed by thread connection by front shroud and bolt, constitute the energy conversion part of bi-directional drive rotary ultrasonic motor, the ultrasonic electric energy that A ultrasonic-frequency power supply and B ultrasonic acoustic-electric source export is converted to the ultrasonic vibrational energy of ultrasonic transducer.
Described elliptical vibration modal transducer and front shroud are made into the front end that is integrally provided in front shroud, or utilize an additional connection stud elliptical vibration modal transducer to be connected in the front end of front shroud, elliptical vibration modal transducer entirety is cylindrical, its upper and lower both sides offer three rectangular indentation be dislocatedly distributed, the object arranging rectangular indentation is the mode of oscillation in order to change single-excitation ultrasonic oval vibration energy converter, make its longitudinal vibration mode frequency and flexural vibration mode frequency close to or equal, the longitudinal ultrasonic vibration that single-excitation ultrasonic oval vibration energy converter produces is converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration modal transducer end.
Described friction-driven block is arranged on the front end of elliptical vibration modal transducer by welding or bonding way, and friction-driven block contacts with the frictional layer on rotating disk.Two single-excitation ultrasonic oval vibration energy converter are linked together by the ring flange of support and single-excitation ultrasonic oval vibration energy converter, and support is used for fixing stator and installs precompression device, stators and rotators is connected formation bi-directional drive rotary ultrasonic motor in aggregates, between two single-excitation ultrasonic oval vibration energy converter axis after ring flange and support are fixed, angle is 20 degree ~ 160 degree.
Before not adding ultrasonic voltage signal and driving, the friction-driven block of two elliptical vibration modal transducer front ends simultaneously and rotor contact.
During driving, one of them ultrasonic transducer suspends, and another one ultrasonic transducer works.Namely: send into the direct current negative pressure signal of telecommunication to the ultrasonic transducer electrode slice needing to suspend, utilize piezoelectric effect to make this single-excitation ultrasonic oval vibration energy converter axial shrinkage, and then the friction-driven block of elliptical vibration modal transducer front end is suspended on rotor.Ultrasonic sinusoidal electric signals sent into by the ultrasonic transducer that need carry out driving work to another one, ultrasonic electric signal as ultrasonic-frequency power supply is exported is linked into the electrode slice of single-excitation ultrasonic oval vibration energy converter, namely this single-excitation ultrasonic oval vibration energy converter produces ultrasonic vibration, after ultrasonic vibrational energy is delivered to elliptical vibration modal transducer end from single-excitation ultrasonic oval vibration energy converter, be converted to the vertical curved composite ultrasonic elliptical vibratory of extensional vibration and the flexural vibrations compound with certain phase difference, be namely converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration modal transducer end; And drive friction-driven block to do ultrasonic elliptical vibratory together with elliptical vibration modal transducer end, and then rotor is driven to carry out continuous rotation motion.
When needs rotor is to another azimuthal rotational motion, exchange the ultrasonic electric signal type of drive of two ultrasonic transducers.Compare the bi-directional drive rotary ultrasonic motor that existing document is introduced, this rotary ultrasonic motor has that power capacity is large, energy conversion efficiency is high, structure is simple, easy to manufacture, cost is low, the rigidity of structure is large, control-driven system is simple and the advantage such as vibration performance is stable.
Further, two single-excitation ultrasonic oval vibration energy converter of described bi-directional drive rotary ultrasonic motor have one group of extensional vibration piezoelectric ceramic piece respectively.
Further, two single-excitation ultrasonic oval vibration energy converter of described bi-directional drive rotary ultrasonic motor need a road ultrasonic electric signal excitation respectively.
Present invention employs the vertical curved composite ultrasonic elliptical vibratory that mechanical oscillation MODAL TRANSFORMATION OF A mechanism is converted to the extensional vibration of ultrasonic transducer elliptical vibration modal transducer, simplify the overall structure of bi-directional drive rotary ultrasonic motor, greatly reduce the complexity of vibrational system, reduce manufacture, assembly difficulty and production cost, whole bi-directional drive rotary ultrasonic motor structure is simple, easy to manufacture, and cost is low; Two ultrasonic transducer equal Zhi Xu mono-road ultrasonic electric signals of this invention encourage in addition, control difficulty is low, avoid the complicated ultrasonic-frequency power supply development cost that heterogeneous ultrasonic vibration is compounded to form elliptical vibration transducer, simplify control circuit and ultrasonic-frequency power supply structure, reduce control circuit and ultrasonic-frequency power supply cost, reduce control circuit and ultrasonic-frequency power supply volume, be easy to the microminiaturization realizing control circuit and ultrasonic-frequency power supply, integrated, improve reliability, service behaviour is more stable, has a extensive future.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is application example schematic diagram of the present invention.
Number in the figure illustrates: 1. bolt, 2. back shroud, 3. piezoelectric ceramic piece, 4. electrode slice, 5. front shroud, 6. elliptical vibration modal transducer, 7. rectangular indentation, 8. rotating disk, 9. frictional layer, 10 friction-driven blocks, 11. supports, 12.A ultrasonic-frequency power supply, 13.B ultrasonic-frequency power supply
Embodiment
Shown in composition graphs 1,2, a kind of bi-directional drive rotary ultrasonic motor, comprises stators and rotators, and rotor comprises rotating disk 8 and is arranged on the frictional layer 9 on rotating disk 8 surface; Described stator comprises support 11, by the identical single-excitation ultrasonic oval vibration energy converter of fixing two of support 11, friction-driven block that two identical elliptical vibration modal transducer are identical with two; Single-excitation ultrasonic oval vibration energy converter comprises bolt (1) and is set in back shroud (2), piezoelectric ceramic piece (3), electrode slice (4) and the front shroud (5) on bolt (1) successively, back shroud 2, piezoelectric ceramic piece 3, electrode slice 4 and front shroud 5 are fixed by thread connection by front shroud 5 and bolt 1, constitute the energy conversion part of bi-directional drive rotary ultrasonic motor, the ultrasonic electric energy that A ultrasonic-frequency power supply 12 and B ultrasonic acoustic-electric source 13 export is converted to the ultrasonic vibrational energy of ultrasonic transducer.Two single-excitation ultrasonic oval vibration energy converter 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 material is PZT-8, is of a size of:
Ф 30 × Ф 15 × 5, sheet number is 2.
Described elliptical vibration modal transducer 6 and front shroud 5 are made into the front end that is integrally provided in front shroud 5, elliptical vibration modal transducer 6 entirety is cylindrical, diameter 15mm, upper and lower both sides offer three rectangular indentation be dislocatedly distributed 7, 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 block 10 is by the bonding front end being arranged on elliptical vibration modal transducer 6, and friction-driven block 10 contacts with the frictional layer 9 on rotating disk 8.Two single-excitation ultrasonic oval vibration energy converter are linked together by the ring flange of support 11 and single-excitation ultrasonic oval vibration energy converter, and support 11 is used for fixing stator and installs precompression device, stators and rotators is connected formation bi-directional drive rotary ultrasonic motor in aggregates, between two single-excitation ultrasonic oval vibration energy converter axis after ring flange and support are fixed, angle is 90 degree.
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 single-excitation ultrasonic oval vibration energy converter need a road ultrasonic electric signal 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 automatic frequency tracking function in designated frequency range.
Before not adding ultrasonic voltage signal and driving, the friction-driven block 10 of two elliptical vibration modal transducer 6 front ends simultaneously and rotor contact.
During driving, send into the direct current negative pressure signal of telecommunication to the ultrasonic transducer electrode slice needing to suspend, utilize piezoelectric effect to make this single-excitation ultrasonic oval vibration energy converter axial shrinkage, and then make the friction-driven block 10 of elliptical vibration modal transducer 6 front end be suspended on rotor; Ultrasonic sinusoidal electric signals sent into by the ultrasonic transducer that need carry out driving work to another one, after the ultrasonic electric signal that B ultrasonic acoustic-electric source 13 is exported is linked into the electrode slice 4 of single-excitation ultrasonic oval vibration energy converter, namely this single-excitation ultrasonic oval vibration energy converter produces ultrasonic vibration, after ultrasonic vibrational energy is delivered to elliptical vibration modal transducer 6 end from single-excitation ultrasonic oval vibration energy converter, be converted to the vertical curved composite ultrasonic elliptical vibratory of extensional vibration and the flexural vibrations compound with certain phase difference, be namely converted to the vertical curved composite ultrasonic elliptical vibratory of elliptical vibration modal transducer 6 end; And drive friction-driven block 10 to do ultrasonic elliptical vibratory together with elliptical vibration modal transducer 6 end, and then rotor is driven to carry out continuous rotation motion.System after 10 minutes of running reaches stable vibration state, and the output voltage in B ultrasonic acoustic-electric source 13 is 240V, and electric current is 1.45A, and diameter is the edge peripheral linear speed peak value of the rotating disk 8 of 40mm is 56.2mm/s.
Exchange the ultrasonic electric signal type of drive of two ultrasonic transducers, running the output voltage of A ultrasonic-frequency power supply 12 after 10 minutes is 240V, electric current is 1.50A, and rotor is to another azimuthal rotational motion, and its diameter is the edge peripheral linear speed peak value of the rotating disk 8 of 40mm is 56.9mm/s.
Claims (3)
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: the single-excitation ultrasonic oval vibration energy converter that stator comprises support, fixed by support two identical, the friction-driven block that two identical elliptical vibration modal transducer are identical with two; Single-excitation ultrasonic oval vibration energy converter comprises bolt and is set in back shroud, piezoelectric ceramic piece, electrode slice and the front shroud on bolt successively, and back shroud, piezoelectric ceramic piece, electrode slice and front shroud are fixed by thread connection by front shroud and bolt; Described elliptical vibration modal transducer and front shroud are made into the front end that is integrally provided in front shroud, or also comprise a connection stud, for elliptical vibration modal transducer being connected in the front end of front shroud; Elliptical vibration modal transducer entirety is cylindrical, upper and lower both sides offer three rectangular indentation be dislocatedly distributed, described friction-driven block is arranged on the front end of elliptical vibration modal transducer, and between two single-excitation ultrasonic oval vibration energy converter axis after ring flange and support are fixed, angle is 20 degree ~ 160 degree; Two single-excitation ultrasonic oval vibration energy converter of described bi-directional drive rotary ultrasonic motor have one group of extensional vibration piezoelectric ceramic piece respectively, and two single-excitation ultrasonic oval vibration energy converter need a road ultrasonic electric signal excitation respectively.
2. a kind of bi-directional drive rotary ultrasonic motor according to claim 1, is characterized in that: described friction-driven block is arranged on the front end of elliptical vibration modal transducer by welding.
3. a kind of bi-directional drive rotary ultrasonic motor according to claim 1, is characterized in that: described friction-driven block is by the bonding front end being arranged on elliptical vibration modal transducer.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103199735A CN103199735A (en) | 2013-07-10 |
| CN103199735B true CN103199735B (en) | 2015-09-02 |
Family
ID=48722128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310164612.XA Expired - Fee Related CN103199735B (en) | 2013-05-08 | 2013-05-08 | A kind of bi-directional drive rotary ultrasonic motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103199735B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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 |
-
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103199735A (en) | 2013-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103414373B (en) | Single stimulated rotation ultrasonic motor | |
| CN103414370B (en) | Singly encourage linear ultrasonic motor | |
| CN103401470B (en) | Bi-directional drive linear ultrasonic motor | |
| CN103208943B (en) | A kind of single stimulated rotation ultrasonic motor | |
| CN103414372B (en) | Bi-directional drive rotary ultrasonic motor | |
| CN103199731B (en) | One singly encourages linear ultrasonic motor | |
| CN103199735B (en) | A kind of bi-directional drive rotary ultrasonic motor | |
| CN103208944B (en) | A kind of single-electrical signal drives rotary ultrasonic motor | |
| CN203406799U (en) | Bidirectional driving rotary ultrasonic motor | |
| CN103199734B (en) | A kind of single-electrical signal drives two-way rotary ultrasonic motor | |
| CN103227584B (en) | A kind of bi-directional drive linear ultrasonic motor | |
| CN203457073U (en) | Bidirectionally driven linear ultrasonic motor | |
| CN103414375B (en) | Single-electrical signal drives rotary ultrasonic motor | |
| CN203261258U (en) | Single electric signal drive-for-rotation ultrasonic motor | |
| CN204271946U (en) | A kind of single-electrical signal drives rotary ultrasonic motor | |
| CN203406800U (en) | Single excitation rotary ultrasonic motor | |
| CN203406802U (en) | Single electric signal driving bidirectional rotary ultrasonic motor | |
| CN203406797U (en) | Single excitation linear ultrasonic motor | |
| CN203225675U (en) | Bidirectional-driving linear ultrasonic motor | |
| CN204271947U (en) | A kind of single stimulated rotation ultrasonic motor | |
| CN104362897A (en) | Single-electric-signal-driven rotary ultrasonic motor | |
| CN203225676U (en) | Bidirectional driving rotary ultrasonic motor | |
| CN103414374B (en) | Single-electrical signal drives two-way rotary ultrasonic motor | |
| CN204271944U (en) | A kind of bi-directional drive rotary ultrasonic motor | |
| CN203225677U (en) | Single-excitation rotary ultrasonic motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150902 Termination date: 20170508 |