CN103929091A - Combined excitation type rotary linear ultrasonic motor for piezoelectric actuators and excitation method of combined excitation type rotary linear ultrasonic motor - Google Patents
Combined excitation type rotary linear ultrasonic motor for piezoelectric actuators and excitation method of combined excitation type rotary linear ultrasonic motor Download PDFInfo
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- CN103929091A CN103929091A CN201410167198.2A CN201410167198A CN103929091A CN 103929091 A CN103929091 A CN 103929091A CN 201410167198 A CN201410167198 A CN 201410167198A CN 103929091 A CN103929091 A CN 103929091A
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Abstract
The invention discloses a combined excitation type rotary linear ultrasonic motor for piezoelectric actuators and an excitation method of the combined excitation type rotary linear ultrasonic motor. The problems that an existing rotary linear ultrasonic motor is small in output force, low in output power and the like are solved. The combined excitation type rotary linear ultrasonic motor comprises a supporting frame, the piezoelectric actuators, an elastic nut, an output shaft and a pre-tightening screw. The supporting frame is of a disc-shaped structure with the middle fixed. The piezoelectric actuators are arranged in the supporting frame in two layers in a piezoelectric stacking mode and tightened to the external plane of the elastic nut in advance through the pre-tightening screw. The elastic nut is an elastic nut structural body with the external plane and internal threads. The output shaft is a thread shaft rigid body. The elastic nut and the output shaft are in transmission through a thread pair. Alternating electric signals are exerted on the piezoelectric actuators, a second-order bending vibration mode of the elastic nut is stimulated, driving traveling waves are generated through superposition and coupling, driving force is generated through transmission of the thread pair, and therefore linear motion output of the output shaft is achieved. The combined excitation type rotary linear ultrasonic motor has the advantages that the output force is large, the output power is high, and the application prospects in the fields of aerospace and the like are wide.
Description
Technical field
The present invention relates to a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor and motivational techniques thereof, belong to accurate and drive and field of locating technology.
Background technology
Ultrasound electric machine (also can be described as ultrasonic motor) is that a kind of inverse piezoelectric effect of piezoelectric element of utilizing excites oscillator (or weighed son) to produce the ultrasonic vibration of high frequency a little, realizes the small and special electric machine of mechanical energy output by the friction coupling between oscillator and mover.Different according to the output form of mover, ultrasound electric machine can be divided into several output types such as straight line, rotation and multiple degrees of freedom.A kind of as in current many output type ultrasound electric machines of rotary linear ultrasonic motor, between its oscillator and mover, the main screw thread pair that adopts carries out transmission, realizes the output of rotation straight line two-freedom motion by screw thread transmission.Compare with other class ultrasound electric machine, that rotary linear ultrasonic motor has is simple in structure, be easy to the advantages such as microminiaturization, positioning precision height, can be widely used in the accurate technical field driving with transmission.
According to the constituted mode of oscillator from drive the different of incentive mode, rotary linear ultrasonic motor mainly contains ultrasound waveguide screw motor, the several types such as body side metal stator rotary linear ultrasonic motor, screw thread driven polyhedron ultrasonic motor and piezoelectric plate-sandwiched rotary linear ultrasonic motor based on MODAL TRANSFORMATION OF A.United States Patent (USP) < < MECHANISM COMPRISED OF ULTRASONIC LEAD SCREW MOTOR > > wherein, publication number is US2006049720-A1, open day is Mar.9, 2006, disclosed ultrasound waveguide screw motor is mainly that piezoelectric patches is pasted on to bar type structure stator lateral surface, utilize two first-order bending vibrations of quadrature on the cylindrical stator space that two ends freely retrain to intercouple, at the free-ended inner surface of stator, produce and drive row ripple, stator and output shaft are by screw thread pair transmission, under the effect of axial load power, realize the rotational motion to linear motion output of output shaft.Inspection Check シ ス テ system > > in the micro-Fine pipe of Japan Patent < < ultrasonic waves operating means お I び, publication number is JP2009261494-A, open day is on November 12nd, 2009, the disclosed body side metal stator rotary linear ultrasonic motor based on MODAL TRANSFORMATION OF A be mainly the radial contraction vibration that utilizes composition metal side's body stator of pasting piezoelectric patches (
r 3mode of oscillation) and axial stretching vibration (
t 1mode of oscillation) conversion between two kinds of mode realizes rotation and straight-line output, and these two kinds of motions are separate, can realize independent control.Chinese patent < < screw thread driven polyhedron ultrasonic motor > >, publication number is CN1767347A, open day is on May 3rd, 2006, disclosed screw thread driven polyhedron ultrasonic motor is mainly that piezoelectric patches is pasted in the plane in metal thin-wall cylinder stator outside, rotor and metal thin-wall cylinder stator pass through threaded engagement, by excitation piezoelectric patches, make the generation capable ripple of in-plane bending along the circumferential direction in stator, the capable ripple of this in-plane bending is rotated and is converted to the axial linear movement of rotor by screw thread direct driving rotor.Chinese patent < < piezoelectric plate-sandwiched rotary linear ultrasonic motor stator > >, Granted publication CN102355157B, at on 02 12nd, 2014 Granted publication day, disclosed piezoelectric plate-sandwiched rotary linear ultrasonic motor is mainly that the mode with sandwich type structural is arranged in cantilever beam and free beam stator by piezoelectric patches, excite the flexural vibration mode of stator, utilize modal coupling to realize the rotational motion to linear motion output of screw thread output shaft.
Although the rotary linear ultrasonic motor of above-mentioned several implementations is different at constituted mode or the driving incentive mode of oscillator, but its common ground is that in oscillator, the piezoelectric exciting element for excited vibrational all adopts the piezoelectric patches of individual layer sheet form as exciting source, cause the power output of motor less (being generally no more than 10 N), power output lower (being generally no more than 20 mW).This problem seems more outstanding in the fields such as Aero-Space, aircraft and military industrial technology that require driver to have large power output, high-output power characteristic.
Summary of the invention
For solving existing rotary linear ultrasonic motor owing to adopting piezoelectric patches as exciting source, the technical problems such as the motor power output that causes is little, power output is low, the invention discloses a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor and motivational techniques thereof.
The technical solution adopted in the present invention is: described piezoelectric actuator combination excitation type rotary linear ultrasonic motor comprises bracing frame, piezoelectric actuator, elastic nut, output shaft and pretension screw.Described bracing frame is the fixing disk-shaped structure in middle part, piezoelectric actuator is piezo-electric stack, piezoelectric actuator bilayer is built in bracing frame, and pressurize pretension in the outerplanar of elastic nut by pretension screw, elastic nut is the nut structure elastomer with outerplanar and internal thread, output shaft is thread spindle structural rigidity body, passes through screw thread pair transmission between elastic nut and output shaft.By apply alternate electrical signal on piezoelectric actuator, excite the second order flexural vibration mode of elastic nut, stack coupling forms and drives row ripple, by screw thread pair transmission, produces actuating force, realizes the rotational motion to linear motion output of output shaft.
Piezoelectric actuator combination excitation type rotary linear ultrasonic motor proposed by the invention has High power output, power output advantages of higher, more than its power output can reach 20 N, and can obtain power outputs more than 50 mW, in fields such as Aero-Space, military industrial technologies, be with a wide range of applications.
Accompanying drawing explanation
Figure 1 shows that the front view of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor of a kind of individual layer four exciting patterns that the present invention proposes;
Figure 2 shows that the cutaway view of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor of a kind of individual layer four exciting patterns that the present invention proposes;
Figure 3 shows that the schematic diagram of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor bracing frame of a kind of individual layer four exciting patterns that the present invention proposes;
Figure 4 shows that the schematic diagram of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut of a kind of individual layer four exciting patterns that the present invention proposes;
Figure 5 shows that the schematic diagram of piezoelectric actuator combination excitation type rotary linear ultrasonic motor output shaft of the present invention;
Figure 6 shows that the piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut section deformation schematic diagram of a kind of individual layer four exciting patterns that the present invention proposes;
Figure 7 shows that the cutaway view of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor of a kind of individual layer eight exciting patterns that the present invention proposes;
Figure 8 shows that the schematic diagram of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor bracing frame of a kind of individual layer eight exciting patterns that the present invention proposes;
Figure 9 shows that the schematic diagram of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut of a kind of individual layer eight exciting patterns that the present invention proposes;
Figure 10 shows that the piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut section deformation schematic diagram of a kind of individual layer eight exciting patterns that the present invention proposes;
Figure 11 shows that the cutaway view of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor of a kind of individual layer 12 exciting patterns that the present invention proposes;
Figure 12 shows that the schematic diagram of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor bracing frame of a kind of individual layer 12 exciting patterns that the present invention proposes;
Figure 13 shows that the schematic diagram of the piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut of a kind of individual layer 12 exciting patterns that the present invention proposes;
Figure 14 shows that the piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut section deformation schematic diagram of a kind of individual layer 12 exciting patterns that the present invention proposes;
Figure 15 shows that piezoelectric actuator combination excitation type rotary linear ultrasonic motor elastic nut second order flexural vibrations distortion schematic diagram of the present invention.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Figure 15.Present embodiment provides a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor of individual layer four exciting patterns and the embodiment of motivational techniques thereof, and the piezoelectric actuator combination excitation type rotary linear ultrasonic motor of these individual layer four exciting patterns is mainly comprised of bracing frame 1, piezoelectric actuator 2, elastic nut 3, output shaft 4 and pretension screw 5.
Described bracing frame 1 is the fixing disk-shaped structure in middle part, on its periphery, uniform 8 planes for coordinating with pretension screw 5, are specially the first plane 1-1, the second plane 1-2, the 3rd plane 1-3, the face 1-4 of Siping City, the 5th plane 1-5, the 6th plane 1-6, the 7th plane 1-7 and the 8th plane 1-8; Piezoelectric actuator 2 is the cab over type cylindricality encapsulation piezo-electric stack that 8 Harbin Science and Technology Ltd.'s core tomorrow models are VS12 series, is specially the first piezo-electric stack 2-1, the second piezo-electric stack 2-2, the 3rd piezo-electric stack 2-3, the 4th piezo-electric stack 2-4, the 5th piezo-electric stack 2-5, the 6th piezo-electric stack 2-6, the 7th piezo-electric stack 2-7 and the 8th piezo-electric stack 2-8; Elastic nut 3 is for having the nut structure elastomer of outerplanar and internal thread, and 4 outerplanars are for being connected with piezoelectric actuator 2, is specially the first outerplanar 3-1, the second outerplanar 3-2, the 3rd outerplanar 3-3 and the plane 3-4 all round; Output shaft 4 is thread spindle structural rigidity body, between elastic nut 3 and output shaft 4, by screw thread pair, is in transmission connection; the first plane 1-1 coordinates pretension the first piezo-electric stack 2-1 to act on the first outerplanar 3-1 of elastic nut 3 with pretension screw 5, the second plane 1-2 coordinates pretension the second piezo-electric stack 2-2 to act on the second outerplanar 3-2 of elastic nut 3 with pretension screw 5, the 3rd plane 1-3 coordinates pretension the 3rd piezo-electric stack 2-3 to act on the 3rd outerplanar 3-3 of elastic nut 3 with pretension screw 5, the face 1-4 of Siping City coordinates pretension the 4th piezo-electric stack 2-4 to act on all round on plane 3-4 of elastic nut 3 with pretension screw 5, the 5th plane 1-5 coordinates pretension the 5th piezo-electric stack 2-5 to act on the first outerplanar 3-1 of elastic nut 3 with pretension screw 5, the 6th plane 1-6 coordinates pretension the 6th piezo-electric stack 2-6 to act on the second outerplanar 3-2 of elastic nut 3 with pretension screw 5, the 7th plane 1-7 coordinates pretension the 7th piezo-electric stack 2-7 to act on the 3rd outerplanar 3-3 of elastic nut 3 with pretension screw 5, the 8th plane 1-8 coordinates pretension the 8th piezo-electric stack 2-8 to act on all round on plane 3-4 of elastic nut 3 with pretension screw 5.
Described the first piezo-electric stack 2-1 and the 5th piezo-electric stack 2-5 are arranged in double-deck symmetric position, the 3rd piezo-electric stack 2-3 and the 7th piezo-electric stack 2-7 are arranged in double-deck symmetric position, the first piezo-electric stack 2-1 and the 3rd piezo-electric stack 2-3 are arranged symmetrically with layer, and the 5th piezo-electric stack 2-5 and the 7th piezo-electric stack 2-7 are arranged symmetrically with layer; Wherein the first piezo-electric stack 2-1 and the 7th piezo-electric stack 2-7 form exciting group A1, and the 3rd piezo-electric stack 2-3 and the 5th piezo-electric stack 2-5 form exciting group A2, and exciting group A1 and exciting group A2 form exciting group A; The second piezo-electric stack 2-2 and the 6th piezo-electric stack 2-6 are arranged in double-deck symmetric position, the 4th piezo-electric stack 2-4 and the 8th piezo-electric stack 2-8 are arranged in double-deck symmetric position, the second piezo-electric stack 2-2 and the 4th piezo-electric stack 2-4 are arranged symmetrically with layer, and the 6th piezo-electric stack 2-6 and the 8th piezo-electric stack 2-8 are arranged symmetrically with layer; Wherein the second piezo-electric stack 2-2 and the 8th piezo-electric stack 2-8 form exciting group B1, and the 4th piezo-electric stack 2-4 and the 6th piezo-electric stack 2-6 form exciting group B2, and exciting group B1 and exciting group B2 form exciting group B.
Exciting group A and exciting group B meeting spatial quadrature arrangement relation.
The motivational techniques of present embodiment: describe with reference to Fig. 2, Fig. 6 and Figure 15.In exciting group A, exciting group A1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group A2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; In exciting group B, exciting group B1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group B2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; Exciting group A is identical with the frequency of exciting group B energising alternate electrical signal, is greater than the supersonic range of 16kHz, and amplitude equates, the orthogonality relations of satisfied 90 degree of phase difference or 270 degree.When the phase difference of exciting group A and exciting group B energising alternate electrical signal is respectively that 90 degree and 270 are when spend, sharp A shakes and organizes the second order flexural vibration mode that excites elastic nut 3 with exciting group B, stack coupling forms two driving row ripples that traffic direction is contrary, by screw thread pair transmission, produce actuating force, realize respectively the rotational motion to linear motion output of the positive and negative both direction of output shaft 4.
Embodiment two: present embodiment is described in conjunction with Fig. 7, Fig. 8, Fig. 9, Figure 10 and Figure 15.Present embodiment provides a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor of individual layer eight exciting patterns and the embodiment of motivational techniques thereof; Its part and annexation are identical with embodiment one, and difference is that the incentive mode of 2 pairs of elastic nuts 3 of piezoelectric actuator is different.
Described bracing frame 1 is the fixing disk-shaped structure in middle part, on its periphery, uniform 16 planes for coordinating with pretension screw 5, are specially the first plane 1-1, the second plane 1-2, the 3rd plane 1-3, the face 1-4 of Siping City, the 5th plane 1-5, the 6th plane 1-6, the 7th plane 1-7, the 8th plane 1-8, the 9th plane 1-9, the tenth plane 1-10, the 11 plane 1-11, the 12 plane 1-12, the 13 plane 1-13, the face 1-14 of Shi Siping City, the 15 plane 1-15, the 16 plane 1-16, described piezoelectric actuator 2 is the cab over type cylindricality encapsulation piezo-electric stack that 16 Harbin Science and Technology Ltd.'s core tomorrow models are VS12 series, be specially the first piezo-electric stack 2-1, the second piezo-electric stack 2-2, the 3rd piezo-electric stack 2-3, the 4th piezo-electric stack 2-4, the 5th piezo-electric stack 2-5, the 6th piezo-electric stack 2-6, the 7th piezo-electric stack 2-7, the 8th piezo-electric stack 2-8, the 9th piezo-electric stack 2-9, the tenth piezo-electric stack 2-10, the 11 piezo-electric stack 2-11, the 12 piezo-electric stack 2-12, the 13 piezo-electric stack 2-13, the 14 piezo-electric stack 2-14, the 15 piezo-electric stack 2-15 and the 16 piezo-electric stack 2-16, elastic nut 3 is for having the nut structure elastomer of outerplanar and internal thread, 8 outerplanars are for being connected with piezoelectric actuator 2, are specially the first outerplanar 3-1, the second outerplanar 3-2, the 3rd outerplanar 3-3 and the plane 3-4, the 5th outerplanar 3-5, the 6th outerplanar 3-6, the 7th outerplanar 3-7 and the 8th outerplanar 3-8 all round, output shaft 4 is thread spindle structural rigidity body, between elastic nut 3 and output shaft 4, by screw thread pair, is in transmission connection, the first described plane 1-1 coordinates pretension the first piezo-electric stack 2-1 to act on the first outerplanar 3-1 of elastic nut 3 with pretension screw 5, the second plane 1-2 coordinates pretension the second piezo-electric stack 2-2 to act on the second outerplanar 3-2 of elastic nut 3 with pretension screw 5, the 3rd plane 1-3 coordinates pretension the 3rd piezo-electric stack 2-3 to act on the 3rd outerplanar 3-3 of elastic nut 3 with pretension screw 5, the face 1-4 of Siping City coordinates pretension the 4th piezo-electric stack 2-4 to act on all round on plane 3-4 of elastic nut 3 with pretension screw 5, the 5th plane 1-5 coordinates pretension the 5th piezo-electric stack 2-5 to act on the 5th outerplanar 3-5 of elastic nut 3 with pretension screw 5, the 6th plane 1-6 coordinates pretension the 6th piezo-electric stack 2-6 to act on the 6th outerplanar 3-6 of elastic nut 3 with pretension screw 5, the 7th plane 1-7 coordinates pretension the 7th piezo-electric stack 2-7 to act on the 7th outerplanar 3-7 of elastic nut 3 with pretension screw 5, the 8th plane 1-8 coordinates pretension the 8th piezo-electric stack 2-8 to act on the 8th outerplanar 3-8 of elastic nut 3 with pretension screw 5, the 9th plane 1-9 coordinates pretension the 9th piezo-electric stack 2-9 to act on the first outerplanar 3-1 of elastic nut 3 with pretension screw 5, the tenth plane 1-10 coordinates pretension the tenth piezo-electric stack 2-10 to act on the second outerplanar 3-2 of elastic nut 3 with pretension screw 5, the 11 plane 1-11 coordinates pretension the 11 piezo-electric stack 2-11 to act on the 3rd outerplanar 3-3 of elastic nut 3 with pretension screw 5, the 12 plane 1-12 coordinates pretension the 12 piezo-electric stack 2-12 to act on all round on plane 3-4 of elastic nut 3 with pretension screw 5, the 13 plane 1-13 coordinates pretension the 13 piezo-electric stack 2-13 to act on the 5th outerplanar 3-5 of elastic nut 3 with pretension screw 5, the face 1-14 of Shi Siping City coordinates pretension the 14 piezo-electric stack 2-14 to act on the 6th outerplanar 3-6 of elastic nut 3 with pretension screw 5, the 15 plane 1-15 coordinates pretension the 15 piezo-electric stack 2-15 to act on the 7th outerplanar 3-7 of elastic nut 3 with pretension screw 5, the 16 plane 1-16 coordinates pretension the 16 piezo-electric stack 2-16 to act on the 8th outerplanar 3-8 of elastic nut 3 with pretension screw 5.
In piezoelectric actuator 2, the first piezo-electric stack 2-1 and the 9th piezo-electric stack 2-9 bilayer are arranged symmetrically with, the 3rd piezo-electric stack 2-3 and the 11 piezo-electric stack 2-11 bilayer are arranged symmetrically with, the 5th piezo-electric stack 2-5 and the 13 piezo-electric stack 2-13 bilayer are arranged symmetrically with, the 7th piezo-electric stack 2-7 and the 15 piezo-electric stack 2-15 bilayer are arranged symmetrically with, the first piezo-electric stack 2-1 and the 5th piezo-electric stack 2-5 are arranged symmetrically with layer, the 3rd piezo-electric stack 2-3 and the 7th piezo-electric stack 2-7 are arranged symmetrically with layer, the 9th piezo-electric stack 2-9 and the 13 piezo-electric stack 2-13 are arranged symmetrically with layer, the 11 piezo-electric stack 2-11 and the 15 piezo-electric stack 2-15 are arranged symmetrically with layer, the first piezo-electric stack 2-1 and the 3rd piezo-electric stack 2-3 meet 90 degree and arrange, the first piezo-electric stack 2-1 wherein, the 5th piezo-electric stack 2-5, 11 piezo-electric stack 2-11 and the 15 piezo-electric stack 2-15 form exciting group A1, the 3rd piezo-electric stack 2-3, the 7th piezo-electric stack 2-7, the 9th piezo-electric stack 2-9 and the 13 piezo-electric stack 2-13 form exciting group A2, and A1 exciting group and A2 exciting group form exciting group A.
In piezoelectric actuator 2, the second piezo-electric stack 2-2 and the tenth piezo-electric stack 2-10 bilayer are arranged symmetrically with, the 4th piezo-electric stack 2-4 and the 12 piezo-electric stack 2-12 bilayer are arranged symmetrically with, the 6th piezo-electric stack 2-6 and the 14 piezo-electric stack 2-14 bilayer are arranged symmetrically with, the 8th piezo-electric stack 2-8 and the 16 piezo-electric stack 2-16 bilayer are arranged symmetrically with, the second piezo-electric stack 2-2 and the 6th piezo-electric stack 2-6 are arranged symmetrically with layer, the 4th piezo-electric stack 2-4 and the 8th piezo-electric stack 2-8 are arranged symmetrically with layer, the tenth piezo-electric stack 2-10 and the 14 piezo-electric stack 2-14 are arranged symmetrically with layer, the 12 piezo-electric stack 2-12 and the 16 piezo-electric stack 2-16 are arranged symmetrically with layer, the second piezo-electric stack 2-2 and the 4th piezo-electric stack 2-4 meet 90 degree and arrange, the second piezo-electric stack 2-2 wherein, the 6th piezo-electric stack 2-6, the 12 piezo-electric stack 2-12 and the 16 piezo-electric stack 2-16 form exciting group B1, the 4th piezo-electric stack 2-4, the 8th piezo-electric stack 2-8, the tenth piezo-electric stack 2-10 and the 14 piezo-electric stack 2-14 form exciting group B2, exciting group B1 and exciting group B2 form exciting group B.
Exciting group A and exciting group B meeting spatial 45 degree arrangement relation.
The motivational techniques of present embodiment: describe with reference to Fig. 7, Figure 10 and Figure 15.In exciting group A, exciting group A1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group A2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; In exciting group B, exciting group B1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group B2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; Exciting group A is identical with the frequency of exciting group B energising alternate electrical signal, is greater than the supersonic range of 16kHz, and amplitude equates, the orthogonality relations of satisfied 90 degree of phase difference or 270 degree.When the phase difference of exciting group A and exciting group B energising alternate electrical signal is respectively that 90 degree and 270 are when spend, exciting group A and exciting group B excite the second order flexural vibration mode of elastic nut 3, stack coupling forms two driving row ripples that traffic direction is contrary, by screw thread pair transmission, produce actuating force, realize respectively the rotational motion to linear motion output of the positive and negative both direction of output shaft 4.
Embodiment three: present embodiment is described in conjunction with Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15.Present embodiment provides a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor of individual layer 12 exciting patterns and the embodiment of motivational techniques thereof.Its part and annexation are identical with embodiment two with embodiment one, and difference is that the incentive mode of 2 pairs of elastic nuts 3 of piezoelectric actuator is different.
Described bracing frame 1 is the fixing disk-shaped structure in middle part, uniform 24 planes for coordinating with pretension screw 5 on its periphery, be specially the first plane 1-1, the second plane 1-2, the 3rd plane 1-3, the face 1-4 of Siping City, the 5th plane 1-5, the 6th plane 1-6, the 7th plane 1-7, the 8th plane 1-8, the 9th plane 1-9, the tenth plane 1-10, the 11 plane 1-11, the 12 plane 1-12, the 13 plane 1-13, the face 1-14 of Shi Siping City, the 15 plane 1-15, the 16 plane 1-16, the 17 plane 1-17, the 18 plane 1-18, the 19 plane 1-19, the 20 plane 1-20, the 21 plane 1-21, the 22 plane 1-22, the 23 plane 1-23, the face 1-24 of Er Shi Siping City, described piezoelectric actuator 2 is the cab over type cylindricality encapsulation piezo-electric stack that 24 Harbin Science and Technology Ltd.'s core tomorrow models are VS12 series, be specially the first piezo-electric stack 2-1, the second piezo-electric stack 2-2, the 3rd piezo-electric stack 2-3, the 4th piezo-electric stack 2-4, the 5th piezo-electric stack 2-5, the 6th piezo-electric stack 2-6, the 7th piezo-electric stack 2-7, the 8th piezo-electric stack 2-8, the 9th piezo-electric stack 2-9, the tenth piezo-electric stack 2-10, the 11 piezo-electric stack 2-11, the 12 piezo-electric stack 2-12, the 13 piezo-electric stack 2-13, the 14 piezo-electric stack 2-14, the 15 piezo-electric stack 2-15, the 16 piezo-electric stack 2-16, the 17 piezo-electric stack 2-17, the 18 piezo-electric stack 2-18, the 19 piezo-electric stack 2-19, the 20 piezo-electric stack 2-20, the 21 piezo-electric stack 2-21, the 22 piezo-electric stack 2-22, the 23 piezo-electric stack 2-23 and the 24 piezo-electric stack 2-24, elastic nut 3 is for having the nut structure elastomer of outerplanar and internal thread, 12 outerplanars are for being connected with piezoelectric actuator 2, are specially the first outerplanar 3-1, the second outerplanar 3-2, the 3rd outerplanar 3-3 and the plane 3-4, the 5th outerplanar 3-5, the 6th outerplanar 3-6, the 7th outerplanar 3-7 and the 8th outerplanar 3-8, the 9th outerplanar 3-9, the tenth outerplanar 3-10, the 11 outerplanar 3-11 and the 12 outerplanar 3-12 all round, output shaft 4 is thread spindle structural rigidity body, between elastic nut 3 and output shaft 4, by screw thread pair, is in transmission connection, the first described plane 1-1 coordinates pretension the first piezo-electric stack 2-1 to act on the first outerplanar 3-1 of elastic nut 3 with pretension screw 5, the second plane 1-2 coordinates pretension the second piezo-electric stack 2-2 to act on the second outerplanar 3-2 of elastic nut 3 with pretension screw 5, the 3rd plane 1-3 coordinates pretension the 3rd piezo-electric stack 2-3 to act on the 3rd outerplanar 3-3 of elastic nut 3 with pretension screw 5, the face 1-4 of Siping City coordinates pretension the 4th piezo-electric stack 2-4 to act on all round on plane 3-4 of elastic nut 3 with pretension screw 5, the 5th plane 1-5 coordinates pretension the 5th piezo-electric stack 2-5 to act on the 5th outerplanar 3-5 of elastic nut 3 with pretension screw 5, the 6th plane 1-6 coordinates pretension the 6th piezo-electric stack 2-6 to act on the 6th outerplanar 3-6 of elastic nut 3 with pretension screw 5, the 7th plane 1-7 coordinates pretension the 7th piezo-electric stack 2-7 to act on the 7th outerplanar 3-7 of elastic nut 3 with pretension screw 5, the 8th plane 1-8 coordinates pretension the 8th piezo-electric stack 2-8 to act on the 8th outerplanar 3-8 of elastic nut 3 with pretension screw 5, the 9th plane 1-9 coordinates pretension the 9th piezo-electric stack 2-9 to act on the 9th outerplanar 3-9 of elastic nut 3 with pretension screw 5, the tenth plane 1-10 coordinates pretension the tenth piezo-electric stack 2-10 to act on the tenth outerplanar 3-10 of elastic nut 3 with pretension screw 5, the 11 plane 1-11 coordinates pretension the 11 piezo-electric stack 2-11 to act on the 11 outerplanar 3-11 of elastic nut 3 with pretension screw 5, the 12 plane 1-12 coordinates pretension the 12 piezo-electric stack 2-12 to act on the 12 outerplanar 3-12 of elastic nut 3 with pretension screw 5, the 13 plane 1-13 coordinates pretension the 13 piezo-electric stack 2-13 to act on the first outerplanar 3-1 of elastic nut 3 with pretension screw 5, the face 1-14 of Shi Siping City coordinates pretension the 14 piezo-electric stack 2-14 to act on the second outerplanar 3-2 of elastic nut 3 with pretension screw 5, the 15 plane 1-15 coordinates pretension the 15 piezo-electric stack 2-15 to act on the 3rd outerplanar 3-3 of elastic nut 3 with pretension screw 5, the 16 plane 1-16 coordinates pretension the 16 piezo-electric stack 2-16 to act on all round on plane 3-4 of elastic nut 3 with pretension screw 5, the 17 plane 1-17 coordinates pretension the 17 piezo-electric stack 2-17 to act on the 5th outerplanar 3-5 of elastic nut 3 with pretension screw 5, the 18 plane 1-18 coordinates pretension the 18 piezo-electric stack 2-18 to act on the 6th outerplanar 3-6 of elastic nut 3 with pretension screw 5, the 19 plane 1-19 coordinates pretension the 19 piezo-electric stack 2-19 to act on the 7th outerplanar 3-7 of elastic nut 3 with pretension screw 5, the 20 plane 1-20 coordinates pretension the 20 piezo-electric stack 2-20 to act on the 8th outerplanar 3-8 of elastic nut 3 with pretension screw 5, the 21 plane 1-21 coordinates pretension the 21 piezo-electric stack 2-21 to act on the 9th outerplanar 3-9 of elastic nut 3 with pretension screw 5, the 22 plane 1-22 coordinates pretension the 22 piezo-electric stack 2-22 to act on the tenth outerplanar 3-10 of elastic nut 3 with pretension screw 5, the 23 plane 1-23 coordinates pretension the 23 piezo-electric stack 2-23 to act on the 11 outerplanar 3-11 of elastic nut 3 with pretension screw 5, the face 1-24 of Er Shi Siping City coordinates pretension the 24 piezo-electric stack 2-24 to act on the 12 outerplanar 3-12 of elastic nut 3 with pretension screw 5.
The first piezo-electric stack 2-1 and the 13 piezo-electric stack 2-13 bilayer in piezoelectric actuator 2 are arranged symmetrically with, the 3rd piezo-electric stack 2-3 and the 15 piezo-electric stack 2-15 bilayer are arranged symmetrically with, the 5th piezo-electric stack 2-5 and the 17 piezo-electric stack 2-17 bilayer are arranged symmetrically with, the 7th piezo-electric stack 2-7 and the 19 piezo-electric stack 2-19 bilayer are arranged symmetrically with, the 9th piezo-electric stack 2-9 and the 21 piezo-electric stack 2-21 bilayer are arranged symmetrically with, and the 11 piezo-electric stack 2-11 and the 23 piezo-electric stack 2-23 bilayer are arranged symmetrically with; The first piezo-electric stack 2-1 and the 7th piezo-electric stack 2-7 are arranged symmetrically with layer, the 3rd piezo-electric stack 2-3 and the 9th piezo-electric stack 2-9 are arranged symmetrically with layer, the 5th piezo-electric stack 2-5 and the 11 piezo-electric stack 2-11 are arranged symmetrically with layer, the 13 piezo-electric stack 2-13 and the 19 piezo-electric stack 2-19 are arranged symmetrically with layer, the 15 piezo-electric stack 2-15 and the 21 piezo-electric stack 2-21 are arranged symmetrically with layer, and the 17 piezo-electric stack 2-17 and the 23 piezo-electric stack 2-23 are arranged symmetrically with layer; The first piezo-electric stack 2-1 and the 3rd piezo-electric stack 2-3 spend and arrange with layer 60, and the 3rd piezo-electric stack 2-3 and the 5th piezo-electric stack 2-5 are with layer 60 degree layout, and the 5th piezo-electric stack 2-5 and the 7th piezo-electric stack 2-7 arrange with layer 60 degree; Wherein the first piezo-electric stack 2-1, the 5th piezo-electric stack 2-5, the 9th piezo-electric stack 2-9, the 15 piezo-electric stack 2-15, the 19 piezo-electric stack 2-19 and the 23 piezo-electric stack 2-23 form exciting group A1; The 3rd piezo-electric stack 2-3, the 7th piezo-electric stack 2-7, the 11 piezo-electric stack 2-11, the 13 piezo-electric stack 2-13, the 17 piezo-electric stack 2-17 and the 21 piezo-electric stack 2-21 form exciting group A2; Exciting group A1 and exciting group A2 form exciting group A.
The second piezo-electric stack 2-2 and the 14 piezo-electric stack 2-14 bilayer in piezoelectric actuator 2 are arranged symmetrically with, the 4th piezo-electric stack 2-4 and the 16 piezo-electric stack 2-16 bilayer are arranged symmetrically with, the 6th piezo-electric stack 2-6 and the 18 piezo-electric stack 2-18 bilayer are arranged symmetrically with, the 8th piezo-electric stack 2-8 and the 20 piezo-electric stack 2-20 bilayer are arranged symmetrically with, the tenth piezo-electric stack 2-10 and the 22 piezo-electric stack 2-22 bilayer are arranged symmetrically with, and the 12 piezo-electric stack 2-12 and the 24 piezo-electric stack 2-24 bilayer are arranged symmetrically with; The second piezo-electric stack 2-2 and the 8th piezo-electric stack 2-8 are arranged symmetrically with layer, the 4th piezo-electric stack 2-4 and the tenth piezo-electric stack 2-10 are arranged symmetrically with layer, the 6th piezo-electric stack 2-6 and the 12 piezo-electric stack 2-12 are arranged symmetrically with layer, the 14 piezo-electric stack 2-14 and the 20 piezo-electric stack 2-20 are arranged symmetrically with layer, the 16 piezo-electric stack 2-16 and the 22 piezo-electric stack 2-22 are arranged symmetrically with layer, and the 18 piezo-electric stack 2-18 and the 24 piezo-electric stack 2-24 are arranged symmetrically with layer; The second piezo-electric stack 2-2 and the 4th piezo-electric stack 2-4 spend and arrange with layer 60, and the 4th piezo-electric stack 2-4 and the 6th piezo-electric stack 2-6 are with layer 60 degree layout, and the 6th piezo-electric stack 2-6 and the 8th piezo-electric stack 2-8 arrange with layer 60 degree; Wherein the second piezo-electric stack 2-2, the 6th piezo-electric stack 2-6, the tenth piezo-electric stack 2-10, the 16 piezo-electric stack 2-16, the 20 piezo-electric stack 2-20 and the 24 piezo-electric stack 2-24 form exciting group B1; The 4th piezo-electric stack 2-4, the 8th piezo-electric stack 2-8, the 12 piezo-electric stack 2-12, the 14 piezo-electric stack 2-14, the 18 piezo-electric stack 2-18 and the 22 piezo-electric stack 2-22 form exciting group B2; Exciting group B1 and exciting group B2 form exciting group B.
Exciting group A and exciting group B meeting spatial 30 degree arrangement relation.
The motivational techniques of present embodiment: describe with reference to Figure 11, Figure 14 and Figure 15.In exciting group A, exciting group A1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group A2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; In exciting group B, exciting group B1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group B2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; Exciting group A is identical with the frequency of exciting group B energising alternate electrical signal, is greater than the supersonic range of 16kHz, and amplitude equates, the orthogonality relations of satisfied 90 degree of phase difference or 270 degree.When the phase difference of exciting group A and exciting group B energising alternate electrical signal is respectively that 90 degree and 270 are when spend, exciting group A and exciting group B excite the second order flexural vibration mode of elastic nut 3, stack coupling forms two driving row ripples that traffic direction is contrary, by screw thread pair transmission, produce actuating force, realize respectively the rotational motion to linear motion output of the positive and negative both direction of output shaft 4.
Claims (9)
1. a piezoelectric actuator combination excitation type rotary linear ultrasonic motor, is comprised of bracing frame (1), piezoelectric actuator (2), elastic nut (3), output shaft (4) and pretension screw (5); It is characterized in that: described bracing frame (1) is the fixing disk-shaped structure in middle part, elastic nut (3) is for having the nut structure elastomer of outerplanar and internal thread, piezoelectric actuator (2) is 4n piezo-electric stack, n is integer, piezoelectric actuator (2) bilayer is built in bracing frame (1), and pressurize pretension in the outerplanar of elastic nut (3) by pretension screw (5), output shaft (4) is thread spindle structural rigidity body, passes through screw thread pair transmission between elastic nut (3) and output shaft (4).
2. piezoelectric actuator according to claim 1 combines excitation type rotary linear ultrasonic motor, it is characterized in that: be a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor of individual layer four exciting patterns, wherein piezoelectric actuator (2) is 8 piezo-electric stack, is specially the first piezo-electric stack (2-1), the second piezo-electric stack (2-2), the 3rd piezo-electric stack (2-3), the 4th piezo-electric stack (2-4), the 5th piezo-electric stack (2-5), the 6th piezo-electric stack (2-6), the 7th piezo-electric stack (2-7) and the 8th piezo-electric stack (2-8); 8 planes that are distributed on bracing frame (1) periphery are used for coordinating with pretension screw (5), are specially the first plane (1-1), the second plane (1-2), the 3rd plane (1-3), Siping City's face (1-4), the 5th plane (1-5), the 6th plane (1-6), the 7th plane (1-7) and the 8th plane (1-8); Be distributed in 4 outerplanars on elastic nut (3) periphery for coordinating with piezoelectric actuator (2), be specially the first outerplanar (3-1), the second outerplanar (3-2), the 3rd outerplanar (3-3) and the plane (3-4) all round; described the first plane (1-1) coordinates pretension the first piezo-electric stack (2-1) to act on first outerplanar (3-1) of elastic nut (3) with pretension screw (5), the second plane (1-2) coordinates pretension the second piezo-electric stack (2-2) to act on second outerplanar (3-2) of elastic nut (3) with pretension screw (5), the 3rd plane (1-3) coordinates pretension the 3rd piezo-electric stack (2-3) to act on the 3rd outerplanar (3-3) of elastic nut (3) with pretension screw (5), Siping City's face (1-4) coordinates pretension the 4th piezo-electric stack (2-4) to act on all round in plane (3-4) of elastic nut (3) with pretension screw (5), the 5th plane (1-5) coordinates pretension the 5th piezo-electric stack (2-5) to act on first outerplanar (3-1) of elastic nut (3) with pretension screw (5), the 6th plane (1-6) coordinates pretension the 6th piezo-electric stack (2-6) to act on second outerplanar (3-2) of elastic nut (3) with pretension screw (5), the 7th plane (1-7) coordinates pretension the 7th piezo-electric stack (2-7) to act on the 3rd outerplanar (3-3) of elastic nut (3) with pretension screw (5), the 8th plane (1-8) coordinates pretension the 8th piezo-electric stack (2-8) to act on all round in plane (3-4) of elastic nut (3) with pretension screw (5).
3. a kind of piezoelectric actuator according to claim 2 combines excitation type rotary linear ultrasonic motor, it is characterized in that: described the first piezo-electric stack (2-1) is arranged in double-deck symmetric position with the 5th piezo-electric stack (2-5), the 3rd piezo-electric stack (2-3) is arranged in double-deck symmetric position with the 7th piezo-electric stack (2-7), the first piezo-electric stack (2-1) is arranged symmetrically with layer with the 3rd piezo-electric stack (2-3), and the 5th piezo-electric stack (2-5) is arranged symmetrically with layer with the 7th piezo-electric stack (2-7); Wherein the first piezo-electric stack (2-1) forms exciting group A1 with the 7th piezo-electric stack (2-7), and the 3rd piezo-electric stack (2-3) forms exciting group A2 with the 5th piezo-electric stack (2-5), and exciting group A1 and exciting group A2 form exciting group A; The second piezo-electric stack (2-2) is arranged in double-deck symmetric position with the 6th piezo-electric stack (2-6), the 4th piezo-electric stack (2-4) is arranged in double-deck symmetric position with the 8th piezo-electric stack (2-8), the second piezo-electric stack (2-2) is arranged symmetrically with layer with the 4th piezo-electric stack (2-4), and the 6th piezo-electric stack (2-6) is arranged symmetrically with layer with the 8th piezo-electric stack (2-8); Wherein the second piezo-electric stack (2-2) forms exciting group B1 with the 8th piezo-electric stack (2-8), and the 4th piezo-electric stack (2-4) forms exciting group B2 with the 6th piezo-electric stack (2-6), and exciting group B1 and exciting group B2 form exciting group B; Exciting group A and exciting group B meeting spatial quadrature arrangement relation.
4. piezoelectric actuator according to claim 1 combines excitation type rotary linear ultrasonic motor, it is characterized in that: be a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor of individual layer eight exciting patterns, wherein piezoelectric actuator (2) is 16 piezo-electric stack, be specially the first piezo-electric stack (2-1), the second piezo-electric stack (2-2), the 3rd piezo-electric stack (2-3), the 4th piezo-electric stack (2-4), the 5th piezo-electric stack (2-5), the 6th piezo-electric stack (2-6), the 7th piezo-electric stack (2-7), the 8th piezo-electric stack (2-8), the 9th piezo-electric stack (2-9), the tenth piezo-electric stack (2-10), the 11 piezo-electric stack (2-11), the 12 piezo-electric stack (2-12), the 13 piezo-electric stack (2-13), the 14 piezo-electric stack (2-14), the 15 piezo-electric stack (2-15) and the 16 piezo-electric stack (2-16), 16 planes that are distributed on bracing frame (1) periphery are used for coordinating with pretension screw (5), be specially the first plane (1-1), the second plane (1-2), the 3rd plane (1-3), Siping City's face (1-4), the 5th plane (1-5), the 6th plane (1-6), the 7th plane (1-7), the 8th plane (1-8), the 9th plane (1-9), the tenth plane (1-10), the 11 plane (1-11), the 12 plane (1-12), the 13 plane (1-13), Shi Siping City face (1-14), the 15 plane (1-15) and the 16 plane (1-16), be distributed in 8 outerplanars on elastic nut (3) periphery for coordinating with piezoelectric actuator (2), be specially the first outerplanar (3-1), the second outerplanar (3-2), the 3rd outerplanar (3-3) and the plane (3-4), the 5th outerplanar (3-5), the 6th outerplanar (3-6), the 7th outerplanar (3-7) and the 8th outerplanar (3-8) all round, described the first plane (1-1) coordinates pretension the first piezo-electric stack (2-1) to act on first outerplanar (3-1) of elastic nut (3) with pretension screw (5), the second plane (1-2) coordinates pretension the second piezo-electric stack (2-2) to act on second outerplanar (3-2) of elastic nut (3) with pretension screw (5), the 3rd plane (1-3) coordinates pretension the 3rd piezo-electric stack (2-3) to act on the 3rd outerplanar (3-3) of elastic nut (3) with pretension screw (5), Siping City's face (1-4) coordinates pretension the 4th piezo-electric stack (2-4) to act on all round in plane (3-4) of elastic nut (3) with pretension screw (5), the 5th plane (1-5) coordinates pretension the 5th piezo-electric stack (2-5) to act on the 5th outerplanar (3-5) of elastic nut (3) with pretension screw (5), the 6th plane (1-6) coordinates pretension the 6th piezo-electric stack (2-6) to act on the 6th outerplanar (3-6) of elastic nut (3) with pretension screw (5), the 7th plane (1-7) coordinates pretension the 7th piezo-electric stack (2-7) to act on the 7th outerplanar (3-7) of elastic nut (3) with pretension screw (5), the 8th plane (1-8) coordinates pretension the 8th piezo-electric stack (2-8) to act on the 8th outerplanar (3-8) of elastic nut (3) with pretension screw (5), the 9th plane (1-9) coordinates pretension the 9th piezo-electric stack (2-9) to act on first outerplanar (3-1) of elastic nut (3) with pretension screw (5), the tenth plane (1-10) coordinates pretension the tenth piezo-electric stack (2-10) to act on second outerplanar (3-2) of elastic nut (3) with pretension screw (5), the 11 plane (1-11) coordinates pretension the 11 piezo-electric stack (2-11) to act on the 3rd outerplanar (3-3) of elastic nut (3) with pretension screw (5), the 12 plane (1-12) coordinates pretension the 12 piezo-electric stack (2-12) to act on all round in plane (3-4) of elastic nut (3) with pretension screw (5), the 13 plane (1-13) coordinates pretension the 13 piezo-electric stack (2-13) to act on the 5th outerplanar (3-5) of elastic nut (3) with pretension screw (5), Shi Siping City face (1-14) coordinates pretension the 14 piezo-electric stack (2-14) to act on the 6th outerplanar (3-6) of elastic nut (3) with pretension screw (5), the 15 plane (1-15) coordinates pretension the 15 piezo-electric stack (2-15) to act on the 7th outerplanar (3-7) of elastic nut (3) with pretension screw (5), the 16 plane (1-16) coordinates pretension the 16 piezo-electric stack (2-16) to act on the 8th outerplanar (3-8) of elastic nut (3) with pretension screw (5).
5. a kind of piezoelectric actuator according to claim 4 combines excitation type rotary linear ultrasonic motor, it is characterized in that: described the first piezo-electric stack (2-1) is arranged symmetrically with the 9th piezo-electric stack (2-9) bilayer, the 3rd piezo-electric stack (2-3) is arranged symmetrically with the 11 piezo-electric stack (2-11) bilayer, the 5th piezo-electric stack (2-5) is arranged symmetrically with the 13 piezo-electric stack (2-13) bilayer, the 7th piezo-electric stack (2-7) is arranged symmetrically with the 15 piezo-electric stack (2-15) bilayer, the first piezo-electric stack (2-1) is arranged symmetrically with layer with the 5th piezo-electric stack (2-5), the 3rd piezo-electric stack (2-3) is arranged symmetrically with layer with the 7th piezo-electric stack (2-7), the 9th piezo-electric stack (2-9) is arranged symmetrically with layer with the 13 piezo-electric stack (2-13), the 11 piezo-electric stack (2-11) is arranged symmetrically with layer with the 15 piezo-electric stack (2-15), the first piezo-electric stack (2-1) meets 90 degree with the 3rd piezo-electric stack (2-3) and arranges, wherein the first piezo-electric stack (2-1), the 5th piezo-electric stack (2-5), 11 piezo-electric stack (2-11) form exciting group A1 with the 15 piezo-electric stack (2-15), the 3rd piezo-electric stack (2-3), the 7th piezo-electric stack (2-7), the 9th piezo-electric stack (2-9) form exciting group A2 with the 13 piezo-electric stack (2-13), and exciting group A1 and exciting group A2 form exciting group A, the second piezo-electric stack (2-2) is arranged symmetrically with the tenth piezo-electric stack (2-10) bilayer, the 4th piezo-electric stack (2-4) is arranged symmetrically with the 12 piezo-electric stack (2-12) bilayer, the 6th piezo-electric stack (2-6) is arranged symmetrically with the 14 piezo-electric stack (2-14) bilayer, the 8th piezo-electric stack (2-8) is arranged symmetrically with the 16 piezo-electric stack (2-16) bilayer, the second piezo-electric stack (2-2) is arranged symmetrically with layer with the 6th piezo-electric stack (2-6), the 4th piezo-electric stack (2-4) is arranged symmetrically with layer with the 8th piezo-electric stack (2-8), the tenth piezo-electric stack (2-10) is arranged symmetrically with layer with the 14 piezo-electric stack (2-14), the 12 piezo-electric stack (2-12) is arranged symmetrically with layer with the 16 piezo-electric stack (2-16), the second piezo-electric stack (2-2) meets 90 degree with the 4th piezo-electric stack (2-4) and arranges, wherein the second piezo-electric stack (2-2), the 6th piezo-electric stack (2-6), the 12 piezo-electric stack (2-12) form exciting group B1 with the 16 piezo-electric stack (2-16), the 4th piezo-electric stack (2-4), the 8th piezo-electric stack (2-8), the tenth piezo-electric stack (2-10) form exciting group B2 with the 14 piezo-electric stack (2-14), and exciting group B1 and exciting group B2 form exciting group B, exciting group A and exciting group B meeting spatial 45 degree arrangement relation.
6. piezoelectric actuator according to claim 1 combines excitation type rotary linear ultrasonic motor, it is characterized in that: be a kind of piezoelectric actuator combination excitation type rotary linear ultrasonic motor of individual layer 12 exciting patterns, wherein piezoelectric actuator (2) is 24 piezo-electric stack, is specially the first piezo-electric stack (2-1), the second piezo-electric stack (2-2), the 3rd piezo-electric stack (2-3), the 4th piezo-electric stack (2-4), the 5th piezo-electric stack (2-5), the 6th piezo-electric stack (2-6), the 7th piezo-electric stack (2-7), the 8th piezo-electric stack (2-8), the 9th piezo-electric stack (2-9), the tenth piezo-electric stack (2-10), the 11 piezo-electric stack (2-11), the 12 piezo-electric stack (2-12), the 13 piezo-electric stack (2-13), the 14 piezo-electric stack (2-14), the 15 piezo-electric stack (2-15), the 16 piezo-electric stack (2-16), the 17 piezo-electric stack (2-17), the 18 piezo-electric stack (2-18), the 19 piezo-electric stack (2-19), the 20 piezo-electric stack (2-20), the 21 piezo-electric stack (2-21), the 22 piezo-electric stack (2-22), the 23 piezo-electric stack (2-23) and the 24 piezo-electric stack (2-24), 24 planes that are distributed on bracing frame (1) periphery are used for coordinating with pretension screw (5), be specially the first plane (1-1), the second plane (1-2), the 3rd plane (1-3), Siping City's face (1-4), the 5th plane (1-5), the 6th plane (1-6), the 7th plane (1-7), the 8th plane (1-8), the 9th plane (1-9), the tenth plane (1-10), the 11 plane (1-11), the 12 plane (1-12), the 13 plane (1-13), Shi Siping City face (1-14), the 15 plane (1-15), the 16 plane (1-16), the 17 plane (1-17), the 18 plane (1-18), the 19 plane (1-19), the 20 plane (1-20), the 21 plane (1-21), the 22 plane (1-22), the 23 plane (1-23) and Er Shi Siping City face (1-24), be distributed in 12 outerplanars on elastic nut (3) periphery for coordinating with piezoelectric actuator (2), be specially the first outerplanar (3-1), the second outerplanar (3-2), the 3rd outerplanar (3-3) and the plane (3-4), the 5th outerplanar (3-5), the 6th outerplanar (3-6), the 7th outerplanar (3-7) and the 8th outerplanar (3-8), the 9th outerplanar (3-9), the tenth outerplanar (3-10), the 11 outerplanar (3-11) and the 12 outerplanar (3-12) all round, described the first plane (1-1) coordinates pretension the first piezo-electric stack (2-1) to act on first outerplanar (3-1) of elastic nut (3) with pretension screw (5), the second plane (1-2) coordinates pretension the second piezo-electric stack (2-2) to act on second outerplanar (3-2) of elastic nut (3) with pretension screw (5), the 3rd plane (1-3) coordinates pretension the 3rd piezo-electric stack (2-3) to act on the 3rd outerplanar (3-3) of elastic nut (3) with pretension screw (5), Siping City's face (1-4) coordinates pretension the 4th piezo-electric stack (2-4) to act on all round in plane (3-4) of elastic nut (3) with pretension screw (5), the 5th plane (1-5) coordinates pretension the 5th piezo-electric stack (2-5) to act on the 5th outerplanar (3-5) of elastic nut (3) with pretension screw (5), the 6th plane (1-6) coordinates pretension the 6th piezo-electric stack (2-6) to act on the 6th outerplanar (3-6) of elastic nut (3) with pretension screw (5), the 7th plane (1-7) coordinates pretension the 7th piezo-electric stack (2-7) to act on the 7th outerplanar (3-7) of elastic nut (3) with pretension screw (5), the 8th plane (1-8) coordinates pretension the 8th piezo-electric stack (2-8) to act on the 8th outerplanar (3-8) of elastic nut (3) with pretension screw (5), the 9th plane (1-9) coordinates pretension the 9th piezo-electric stack (2-9) to act on the 9th outerplanar (3-9) of elastic nut (3) with pretension screw (5), the tenth plane (1-10) coordinates pretension the tenth piezo-electric stack (2-10) to act on the tenth outerplanar (3-10) of elastic nut (3) with pretension screw (5), the 11 plane (1-11) coordinates pretension the 11 piezo-electric stack (2-11) to act on the 11 outerplanar (3-11) of elastic nut (3) with pretension screw (5), the 12 plane (1-12) coordinates pretension the 12 piezo-electric stack (2-12) to act on the 12 outerplanar (3-12) of elastic nut (3) with pretension screw (5), the 13 plane (1-13) coordinates pretension the 13 piezo-electric stack (2-13) to act on first outerplanar (3-1) of elastic nut (3) with pretension screw (5), Shi Siping City face (1-14) coordinates pretension the 14 piezo-electric stack (2-14) to act on second outerplanar (3-2) of elastic nut (3) with pretension screw (5), the 15 plane (1-15) coordinates pretension the 15 piezo-electric stack (2-15) to act on the 3rd outerplanar (3-3) of elastic nut (3) with pretension screw (5), the 16 plane (1-16) coordinates pretension the 16 piezo-electric stack (2-16) to act on all round in plane (3-4) of elastic nut (3) with pretension screw (5), the 17 plane (1-17) coordinates pretension the 17 piezo-electric stack (2-17) to act on the 5th outerplanar (3-5) of elastic nut (3) with pretension screw (5), the 18 plane (1-18) coordinates pretension the 18 piezo-electric stack (2-18) to act on the 6th outerplanar (3-6) of elastic nut (3) with pretension screw (5), the 19 plane (1-19) coordinates pretension the 19 piezo-electric stack (2-19) to act on the 7th outerplanar (3-7) of elastic nut (3) with pretension screw (5), the 20 plane (1-20) coordinates pretension the 20 piezo-electric stack (2-20) to act on the 8th outerplanar (3-8) of elastic nut (3) with pretension screw (5), the 21 plane (1-21) coordinates pretension the 21 piezo-electric stack (2-21) to act on the 9th outerplanar (3-9) of elastic nut (3) with pretension screw (5), the 22 plane (1-22) coordinates pretension the 22 piezo-electric stack (2-22) to act on the tenth outerplanar (3-10) of elastic nut (3) with pretension screw (5), the 23 plane (1-23) coordinates pretension the 23 piezo-electric stack (2-23) to act on the 11 outerplanar (3-11) of elastic nut (3) with pretension screw (5), Er Shi Siping City face (1-24) coordinates pretension the 24 piezo-electric stack (2-24) to act on the 12 outerplanar (3-12) of elastic nut (3) with pretension screw (5).
7. a kind of piezoelectric actuator according to claim 6 combines excitation type rotary linear ultrasonic motor, it is characterized in that: described the first piezo-electric stack (2-1) is arranged symmetrically with the 13 piezo-electric stack (2-13) bilayer, the 3rd piezo-electric stack (2-3) is arranged symmetrically with the 15 piezo-electric stack (2-15) bilayer, the 5th piezo-electric stack (2-5) is arranged symmetrically with the 17 piezo-electric stack (2-17) bilayer, the 7th piezo-electric stack (2-7) is arranged symmetrically with the 19 piezo-electric stack (2-19) bilayer, the 9th piezo-electric stack (2-9) is arranged symmetrically with the 21 piezo-electric stack (2-21) bilayer, the 11 piezo-electric stack (2-11) is arranged symmetrically with the 23 piezo-electric stack (2-23) bilayer, the first piezo-electric stack (2-1) is arranged symmetrically with layer with the 7th piezo-electric stack (2-7), the 3rd piezo-electric stack (2-3) is arranged symmetrically with layer with the 9th piezo-electric stack (2-9), the 5th piezo-electric stack (2-5) is arranged symmetrically with layer with the 11 piezo-electric stack (2-11), the 13 piezo-electric stack (2-13) is arranged symmetrically with layer with the 19 piezo-electric stack (2-19), the 15 piezo-electric stack (2-15) is arranged symmetrically with layer with the 21 piezo-electric stack (2-21), the 17 piezo-electric stack (2-17) is arranged symmetrically with layer with the 23 piezo-electric stack (2-23), the first piezo-electric stack (2-1) is arranged with layer 60 degree with the 3rd piezo-electric stack (2-3), the 3rd piezo-electric stack (2-3) is spent and is arranged with layer 60 with the 5th piezo-electric stack (2-5), and the 5th piezo-electric stack (2-5) is spent and arranged with layer 60 with the 7th piezo-electric stack (2-7), wherein the first piezo-electric stack (2-1), the 5th piezo-electric stack (2-5), the 9th piezo-electric stack (2-9), the 15 piezo-electric stack (2-15), the 19 piezo-electric stack (2-19) form exciting group A1 with the 23 piezo-electric stack (2-23), the 3rd piezo-electric stack (2-3), the 7th piezo-electric stack (2-7), the 11 piezo-electric stack (2-11), the 13 piezo-electric stack (2-13), the 17 piezo-electric stack (2-17) form exciting group A2 with the 21 piezo-electric stack (2-21), and exciting group A1 and exciting group A2 form exciting group A, wherein the second piezo-electric stack (2-2) is arranged symmetrically with the 14 piezo-electric stack (2-14) bilayer, the 4th piezo-electric stack (2-4) is arranged symmetrically with the 16 piezo-electric stack (2-16) bilayer, the 6th piezo-electric stack (2-6) is arranged symmetrically with the 18 piezo-electric stack (2-18) bilayer, the 8th piezo-electric stack (2-8) is arranged symmetrically with the 20 piezo-electric stack (2-20) bilayer, the tenth piezo-electric stack (2-10) is arranged symmetrically with the 22 piezo-electric stack (2-22) bilayer, the 12 piezo-electric stack (2-12) is arranged symmetrically with the 24 piezo-electric stack (2-24) bilayer, the second piezo-electric stack (2-2) is arranged symmetrically with layer with the 8th piezo-electric stack (2-8), the 4th piezo-electric stack (2-4) is arranged symmetrically with layer with the tenth piezo-electric stack (2-10), the 6th piezo-electric stack (2-6) is arranged symmetrically with layer with the 12 piezo-electric stack (2-12), the 14 piezo-electric stack (2-14) is arranged symmetrically with layer with the 20 piezo-electric stack (2-20), the 16 piezo-electric stack (2-16) is arranged symmetrically with layer with the 22 piezo-electric stack (2-22), the 18 piezo-electric stack (2-18) is arranged symmetrically with layer with the 24 piezo-electric stack (2-24), the second piezo-electric stack (2-2) is arranged with layer 60 degree with the 4th piezo-electric stack (2-4), the 4th piezo-electric stack (2-4) is spent and is arranged with layer 60 with the 6th piezo-electric stack (2-6), and the 6th piezo-electric stack (2-6) is spent and arranged with layer 60 with the 8th piezo-electric stack (2-8), wherein the second piezo-electric stack (2-2), the 6th piezo-electric stack (2-6), the tenth piezo-electric stack (2-10), the 16 piezo-electric stack (2-16), the 20 piezo-electric stack (2-20) form exciting group B1 with the 24 piezo-electric stack (2-24), the 4th piezo-electric stack (2-4), the 8th piezo-electric stack (2-8), the 12 piezo-electric stack (2-12), the 14 piezo-electric stack (2-14), the 18 piezo-electric stack (2-18) form exciting group B2 with the 22 piezo-electric stack (2-22), and exciting group B1 and exciting group B2 form exciting group B, exciting group A and exciting group B meeting spatial 30 degree arrangement relation.
8. the motivational techniques of piezoelectric actuator combination excitation type rotary linear ultrasonic motor, it is characterized in that: in described exciting group A, exciting group A1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, exciting group A2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; In exciting group B, exciting group B1 applies the alternate electrical signal that makes its generation elongate or shorten distortion, and exciting group B2 applies and makes it produce the alternate electrical signal of corresponding shortening or elongation strain simultaneously; Exciting group A is identical with the frequency of exciting group B energising alternate electrical signal, is greater than the supersonic range of 16kHz, and amplitude equates, the orthogonality relations of satisfied 90 degree of phase difference or 270 degree; When the phase difference of exciting group A and exciting group B energising alternate electrical signal is respectively that 90 degree and 270 are when spend, exciting group A and exciting group B excite the second order flexural vibration mode of elastic nut (3), stack coupling forms two driving row ripples that traffic direction is contrary, by screw thread pair transmission, produce actuating force, realize respectively the rotational motion to linear motion output of the positive and negative both direction of output shaft (4).
9. the motivational techniques of piezoelectric actuator combination excitation type rotary linear ultrasonic motor according to claim 8, is characterized in that: the waveform of its excitation alternate electrical signal is sine wave, square wave or sawtooth waveforms.
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| WO2015149807A1 (en) * | 2014-04-02 | 2015-10-08 | Pcb Motor Aps | A stator and a motor |
| US10404191B2 (en) | 2014-04-02 | 2019-09-03 | Pcb Motor Aps | Stator and a motor |
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