CN103227584B - A kind of bi-directional drive linear ultrasonic motor - Google Patents
A kind of bi-directional drive linear ultrasonic motor Download PDFInfo
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- CN103227584B CN103227584B CN201310164568.2A CN201310164568A CN103227584B CN 103227584 B CN103227584 B CN 103227584B CN 201310164568 A CN201310164568 A CN 201310164568A CN 103227584 B CN103227584 B CN 103227584B
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Abstract
The invention discloses a kind of bi-directional drive linear ultrasonic motor, mover comprises draw runner and is arranged on the frictional layer on draw runner surface, 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, mover is driven to carry out two-way continuous linear 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 linear ultrasonic motor.
Background technology
Linear 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 stator and mover, elastomeric micro breadth oscillation is converted to macroscopical straight line (rotation) motion of mover, 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.
Single excitation mode conversion hysteria ultrasound electric machine is the one of ultrasound electric machine, and it is the excitation utilizing one group of piezo ceramic element, makes stator produce the complex vibration with two kinds of mode of oscillation components by the modal transducer of special construction.If there is certain phase difference between these two mode of oscillations and frequency is close, on stators and rotators contact interface, the end face particle of stator will produce elliptic vibrations, thus obtains motion and the moment of torsion of rotor by the friction between stators and rotators.The ultrasound electric machine utilizing MODAL TRANSFORMATION OF A principle to make only needs one group of control circuit and driving power thereof, and control-driven system is simple, and manufacturing cost, control difficulty all can be reduced.
The research and development of current domestic linear ultrasonic motor is very fast, and the colleges and universities such as Tsing-Hua University, Nanjing Aero-Space University, Harbin Institute of Technology successively expand research to linear ultrasonic motor.Since two thousand four, Chinese patent net has published annular standing wave linear ultrasonic motor [200510046044.9], prism longitudinal bend composite vibrator linear supersonic motor [200610132316.1], triangle bended plate type piezoelectric straight line ultrasound electric motor [200710045921.X], H-shaped standing wave linear ultrasonic motor oscillator [200820014739.8], column structure dual-wheel foot driving linear ultrasonic motor and electric excitation method thereof [200710020963.8], the patent such as K shape linear ultrasonic motor [200810124426.2] based on continuous amplitude transformer principle successively.The deficiencies such as but existing linear ultrasonic motor also exists complex structure, power output is little, manufacture is difficult, higher to manufacture matching requirements, cost is higher and the life-span is short.These problems constrain their application in the industrial production.
Summary of the invention
The invention provides a kind of novel bi-directional drive linear ultrasonic motor, object is to overcome the deficiency existed in above-mentioned linear ultrasonic motor.
A kind of bi-directional drive linear ultrasonic motor, comprises stator and mover, and mover comprises draw runner and is arranged on the frictional layer on draw runner surface; 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 linear 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 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 draw runner.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, stator is connected formation bi-directional drive linear ultrasonic motor in aggregates with mover, 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 10 of two elliptical vibration modal transducer front ends contacts with mover simultaneously.
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 mover.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 mover is driven to carry out continuous linear motion.
When needs mover is to another direction rectilinear motion, exchange the ultrasonic electric signal type of drive of two ultrasonic transducers.Compare the bi-directional drive linear ultrasonic motor that existing document is introduced, this linear 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 linear 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 linear 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 linear ultrasonic motor, greatly reduce the complexity of vibrational system, reduce manufacture, assembly difficulty and production cost, whole bi-directional drive linear ultrasonic motor structure is simple, easy to manufacture, is conducive to the realization of microminiaturized target; Two ultrasonic transducer equal Zhi Xu No. mono-control circuits of this invention and ultrasonic electric signal 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. draw runner, 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 linear ultrasonic motor, comprises stator and mover, and mover comprises draw runner 8 and is arranged on the frictional layer 9 on draw runner 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 linear ultrasonic motor, the ultrasonic electric energy that ultrasonic-frequency power supply 12 and 12 exports is converted to the ultrasonic vibrational energy of ultrasonic transducer.Two single-excitation ultrasonic oval vibration energy converter of this bi-directional drive linear 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 × 5mm, 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 draw runner 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, stator is connected formation bi-directional drive linear ultrasonic motor in aggregates with mover, 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 linear 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 contacts with mover simultaneously.
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 mover; 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 mover is driven to carry out continuous linear 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 mover velocity peak values is 16.8mm/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, and electric current is 1.50A, and mover carries out rectilinear motion to another direction, and its velocity peak values is 17.1mm/s.
Claims (5)
1. a bi-directional drive linear ultrasonic motor, comprises mover and stator, and mover comprises draw runner and is arranged on the frictional layer on draw runner surface; 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 is arranged on the front end of front shroud, its 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 linear 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 linear ultrasonic motor according to claim 1, is characterized in that: described elliptical vibration modal transducer and front shroud are made into the front end that is integrally provided in front shroud.
3. a kind of bi-directional drive linear ultrasonic motor according to claim 1, is characterized in that: also comprise connection stud, for elliptical vibration modal transducer being connected in the front end of front shroud.
4. a kind of bi-directional drive linear 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.
5. a kind of bi-directional drive linear 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.
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| CN103401470B (en) * | 2013-08-26 | 2015-08-05 | 苏州科技学院 | Bi-directional drive linear ultrasonic motor |
| CN107720691A (en) * | 2017-11-02 | 2018-02-23 | 南京航空航天大学 | Six degree of freedom is double to refer to micro-/nano operating device in parallel and its operating method |
| CN112542959A (en) * | 2020-11-25 | 2021-03-23 | 上海工程技术大学 | Single-phase excitation bidirectional movement miniature ultrasonic motor and method |
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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 |
| CN203225675U (en) * | 2013-05-08 | 2013-10-02 | 苏州科技学院 | Bidirectional-driving linear ultrasonic motor |
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2013
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Patent Citations (4)
| 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 |
| CN203225675U (en) * | 2013-05-08 | 2013-10-02 | 苏州科技学院 | Bidirectional-driving linear ultrasonic motor |
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Inventor after: Wang Bangfu Inventor after: Zhang Lei Inventor after: Song Juan Inventor after: Yin Zhen Inventor after: Li Hua Inventor after: Cao Ziyang Inventor after: Jiang Quansheng Inventor after: Qi Fangjuan Inventor after: Yang Xinming Inventor after: Wang Zhongwang Inventor before: Yin Zhen Inventor before: Lv Ziqiang Inventor before: Li Hua Inventor before: Cao Ziyang Inventor before: Li Yan Inventor before: Xie Ou Inventor before: Wang Bangfu Inventor before: Ren Kun Inventor before: Chen Yurong Inventor before: Zhang Feng |
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Granted publication date: 20160323 Termination date: 20170508 |