CN103944445A - Linear ultrasonic motor clamping positioning device with one end supported in hinged mode - Google Patents
Linear ultrasonic motor clamping positioning device with one end supported in hinged mode Download PDFInfo
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- CN103944445A CN103944445A CN201410166165.6A CN201410166165A CN103944445A CN 103944445 A CN103944445 A CN 103944445A CN 201410166165 A CN201410166165 A CN 201410166165A CN 103944445 A CN103944445 A CN 103944445A
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Abstract
The invention discloses a linear ultrasonic motor clamping positioning device with one end supported in a hinged mode, and belongs to the technical field of ultrasonic motors. The clamping positioning device is composed of a stator supporting part (4) and a positioning device, the stator supporting part (4) comprises a first supporting arm and a second supporting arm, the end of the first supporting arm serves as a supporting part head end (41), and the end of the second supporting arm serves as a supporting part stressing end (42). The clamping positioning device applies a force on the supporting part stressing end (42) through a pre-compression applying device (6) to enable a motor to rotate around the supporting part head end (41) so as to achieve the purpose that a stator (3) of the motor applies pre-compression on a rotor (5). Due to use of the clamping positioning device, the vibration performance and the structural stability of the ultrasonic motors can be improved further, output force of the ultrasonic motors is improved, and the output efficiency of the ultrasonic motors is increased.
Description
Technical field
The present invention is a kind of assembling and clamping technology of Novel straight ultrasonic motor, belongs to Ultrasonic Motor Techniques field.
Background technology:
Linear ultrasonic motor is the novel electrical micro-machine of one that develops rapidly and apply the eighties in 20th century, it utilizes inverse piezoelectric effect and the elastomeric ultrasonic vibration of piezoelectric element, and by the rubbing action between stator and mover, elastomeric micro breadth oscillation is converted to macroscopical straight line (rotation) motion of mover, directly promote load.It has compact conformation, low-speed big, response is fast, positioning precision is high and the advantage such as Electro Magnetic Compatibility.Have a wide range of applications in Aero-Space, weaponry and accurate driving field.
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 have successively launched research to linear ultrasonic motor.Online at Chinese patent, published successively 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 shape standing wave linear ultrasonic motor oscillator [200820014739.8] etc. since 2004.In recent years, Nanjing Aero-Space University has succeeded in developing column structure dual-wheel foot driving linear ultrasonic motor and electric excitation method thereof [200710020963.8], K shape linear ultrasonic motor [200810124426.2] based on continuous amplitude transformer principle etc.But the deficiencies such as power output is little, efficiency is low, structural instability that existing ultrasound electric machine still has.Through consulting, some linear ultrasonic motor need to consider that spring and rigid body form complicated structure and clamp, and if arrange incorrectly, can produce unnecessary movement and rotation, can not ensure the normal operation of motor.
The clamping and positioning device of linear ultrasonic motor stator is the key factor that affects its stability and delivery efficiency.At present linear ultrasonic motor mainly arranges that by two ends the mode of spring (or two ends flexible hinge) carrys out support stator.The feature of these several clamp methods be the shear stiffness of supporter and normal stiffness on an order of magnitude, it is unfavorable for the raising of motor power output being also unfavorable for the stable of electric machine operation state.
Seldom, the patent of this respect is also little for the research report of the clamping and positioning device of ultrasound electric machine.Early stage method of clamping is to apply power on the symmetry axis of stator structure by spring, because the bite of stator only has 2 its structural instabilities.Patent " clamping and positioning device of the K shape linear ultrasonic motor based on continuous amplitude transformer principle " (ZL 2,010 1 0018343.2) has first proposed the clamp method about linear ultrasonic motor, and the method remains the method for clamping based on spring and guide rail.The method is utilized spring and guide rail, applies precompression in the both sides of stator, owing to there being three bites, so the structure of motor is relatively stable.Patent " based on the clamp positioning device for linear ultrasonic motor of flexible hinge " (ZL 2,010 10556088.7) and " clamp positioning device for linear ultrasonic motor " (ZL 2,010 1 0556066.0) utilize flexible hinge to replace spring to apply precompression.Electric machine structure is reduced to stator, mover, hold assembly and loading part four parts by this invention, and hold assembly comprises holder and attachment screw, and stator is fixed on folder frame by holder, flexible hinge.Its invention has improved the stability of electric machine structure, the clamping device before having optimized.In addition, replace the effect of spring by flexible hinge, eliminated the nonlinear contact of gap and stator and housing.But its shear stiffness of the clamping of foregoing invention is little, be difficult for applying larger precompression, cause the power output of motor little.
The clamping position mode that the present invention proposes a kind of new linear ultrasonic motor, the head end of this supporter is connected with base, and the other end applies precompression by spring or other flexible member.The linear ultrasonic motor stator of this clamping position only has one degree of freedom, so when the support point of head end is during near mover, drive foot above moving with the direction (being called again normal orientation) of mover motion vertical, therefore the shear stiffness of its locate mode is infinitely great, and it has improved the thrust of motor to greatest extent.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of structural design is proposed simple, the clamping and positioning device of being convenient to install the hinged linear ultrasonic motor in one end regulating, it is not only convenient to stator mover is applied to larger precompression, can also ensure the stable of motor output performance simultaneously.
The clamping and positioning device of the hinged linear ultrasonic motor in one end, for the clamping position of linear ultrasonic motor.This linear ultrasonic motor comprises base, mover, V-arrangement stator, and this V-arrangement stator is with two oscillators, and each oscillator is by front end housing, piezoelectric ceramic piece group, rear end cap composition.This clamping and positioning device is characterised in that: this clamping and positioning device comprises supporter.Above-mentioned supporter comprises the first support arm and the second support arm, the first support arm is vertical with an oscillator of V-arrangement stator respectively with the second support arm, each support arm is installed between two adjacent piezoelectric ceramic piece groups of corresponding oscillator, and is fixed together with corresponding oscillator by pretension bolt.The first support arm end is called to supporter head end, and the second support arm end is called the afterburning end of supporter (tail end).
The afterburning end of supporter of above-mentioned supporter is positioned at precompression bringing device, and precompression bringing device is arranged on base.By precompression bringing device, the afterburning end of supporter is exerted pressure, realize the pre-pressure loading of stator to mover.
Above-mentioned supporter head end also has following structure:
The first structure: supporter head end is installed on base by whirligig; Described whirligig has groove, and described supporter head end is positioned at this groove, forms rotational structure, and makes the supporter only can be around supporter head end central rotation, and can not translation;
The second structure: supporter head end is fixed on base, and supporter head end is with flexible circular arc fragment, and the thickness of this flexibility circular arc fragment is less than the other parts of structure, form flexible hinge, supporter only can be rotated around flexible hinge structure centre, and can not translation.
Content of the present invention has been to design a kind of clamping and positioning device of new linear ultrasonic motor.The linear ultrasonic motor clamping position technology that one end is hinged, belongs to Ultrasonic Motor Techniques field.This technology is fixed on stator on hold assembly, and supporter is wherein curved girder construction, by the node (peak valleys of flexural vibrations) of stator extensional vibration.Centered by stator supporter head end, by precompression bringing device, the afterburning end of supporter is loaded to precompression, there is principle of moment balance can realize the loading of stator to mover precompression.With respect to tradition clamping technology, this method of clamping is simple in structure, compact and stable.Owing to no longer needing mobile housing, directly control the size of precompression by the stroke of control spring, save space, and be conducive to processing.
The bite of above-mentioned clamping and positioning device has 3 points (contact point of hinged point, spring-loaded point and fixed and moving son), in the outside of stator structure, has formed a larger delta-shaped region, and this layout makes the structure of stator more stable.Owing to there being a bite to adopt hinged form, stator can only be rotated around hinged point, can apply infinite precompression to motor by force side in theory, this can conveniently realize motor maximum power output.While supposing that hinged point drops on the all-moving surface of fixed and moving son contact (actual installation is near it), now, its clamping element has infinitely-great rigidity in tangential (the mover direction of motion), and being conducive to motor has maximum power output.
Brief description of the drawings
Fig. 1 is the structural representation of the hinged clamping and positioning device in one end of the present invention;
Fig. 2 is the structural representation of the clamping and positioning device of one end of the present invention flexible hinge;
Fig. 3 is the structural representation of supporter in Fig. 1;
Fig. 4 is the structural representation of supporter in Fig. 2;
Fig. 5 is the structural representation of supporter whirligig in Fig. 1;
Fig. 6 is the structural representation of precompression bringing device in Fig. 1 and Fig. 2;
Label title in figure is respectively: 1, and base; 2, whirligig, 21, fastening end; 22, there is one end of Baltimore groove; 3, V-arrangement stator; 4, supporter, 41, supporter head end; 42, the afterburning end of supporter, 43, flexible hinge, 5, mover; 6, precompression bringing device, 61, fixture; 62, spring; 63, screw rod.
Embodiment
Embodiment 1:
The clamp positioning device for linear ultrasonic motor that one end is hinged, belongs to and Ultrasonic Motor Techniques field.As shown in Figure 1, this device is made up of base 1, V-arrangement stator 3, mover 5, hold assembly, and wherein hold assembly comprises: whirligig 2, supporter 4 and precompression bringing device 6.
This novel clamping and positioning device, as shown in Figure 1, centered by the supporter head end 41 of supporter, be rotated and only have one degree of freedom, by precompression bringing device 6, the afterburning end 42 of supporter is exerted pressure, realize the pre-pressure loading of stator 3 to mover 5.
The clamping and positioning device of the hinged linear ultrasonic motor in this one end, for the clamping position of V-arrangement stator, this V-arrangement stator is with two oscillators, and each oscillator is made up of front end housing, piezoelectric ceramic piece group, rear end cap.As shown in Figure 1,3, above-mentioned supporter 4 is with two supporting arms vertical with 3 liang of oscillators of V-arrangement stator respectively, and each supporting arm is installed between two adjacent piezoelectric ceramic piece groups of corresponding oscillator, and is fixed together by pretension bolt.V-arrangement stator 3 entirety are fixed on base 1 by supporter 4, precompression bringing device 6 and tumbler 2.
The supporter tumbler 2 of the clamping and positioning device of the hinged linear ultrasonic motor in one end, as shown in Figure 5, supporter tumbler 2 is fixed on base 1, and stator supporter head end 41 is positioned at the groove 22 of supporter tumbler.This structure can only be rotated around supporter head end 41 stator, and can not translation only have one degree of freedom.
The precompression bringing device 6 of the clamping and positioning device of the hinged linear ultrasonic motor in one end, as shown in Figure 6, in precompression bringing device 6, the afterburning end 42 of stator supporter contacts with spring 62, the afterburning end 42 of supporter is enclosed within on screw rod 63 together with spring 62, screw rod 63 is fixed on fixture 61, and fixture 61 is fixed on base 1.
The stator supporter 4 of the clamping and positioning device of the hinged linear ultrasonic motor in one end, as shown in Figure 1,3, the head end 41 of stator supporter is positioned at the groove 22 of supporter tumbler, and the reinforcing end 42 of supporter is positioned at precompression bringing device 6.Centered by stator supporter head end 41, by precompression bringing device 6, the afterburning end 42 of supporter is loaded to precompression, there is principle of moment balance can realize the loading of stator 3 to mover 5 precompressions.
As shown in Fig. 1,3,5,6, the bite of the clamping and positioning device of the hinged linear ultrasonic motor in one end has the contact point of hinged point, spring-loaded point and fixed and moving sons at 3, in the outside of stator structure, formed a larger delta-shaped region, this layout makes the structure of stator more stable.Because a bite adopts hinged form, stator can only be rotated around hinged point, can apply infinite precompression to motor by reinforcing end in theory, this can facilitate motor to realize maximum power output.
Embodiment 2:
There is a clamping and positioning device for the linear ultrasonic motor of flexible hinge one end, belongs to and Ultrasonic Motor Techniques field.As shown in Figure 2, this device is made up of base 1, stator 3, mover 5, hold assembly 4,6, and wherein hold assembly comprises: supporter 4 and precompression bringing device 6.
This novel clamping and positioning device, as shown in Figure 2, centered by supporter head end 41, position immobilizes, by precompression bringing device 6, the afterburning end 42 of supporter is exerted pressure, the flexible hinge 43 that promotes supporter is out of shape to realize the pre-pressure loading of stator 3 to mover 5 in stator place plane.
The clamping and positioning device of the linear ultrasonic motor of this one end flexible hinge, for the clamping position of V-arrangement stator, this V-arrangement stator is with two oscillators, and each oscillator is made up of front end housing, piezoelectric ceramic piece group, rear end cap.As shown in Figure 2,4, supporter 4 is with two supporting arms vertical with 3 liang of oscillators of V-arrangement stator respectively, and each supporting arm is installed between two adjacent piezoelectric ceramic piece groups of corresponding oscillator, and is fixed together by pretension bolt.V-arrangement stator 3 entirety are fixed on base 1 by supporter 4 and precompression bringing device 6.
The precompression bringing device 6 of the clamping and positioning device of the linear ultrasonic motor of one end flexible hinge, as shown in Figure 6, in precompression bringing device 6, the afterburning end 42 of stator supporter contacts with spring 62, the afterburning end 42 of supporter is enclosed within on screw rod 63 together with spring 62, screw rod 63 is fixed on fixture 61, and fixture 61 is fixed on base 1.
The stator supporter 4 of the clamping and positioning device of the linear ultrasonic motor of one end flexible hinge, as shown in Figure 2,4, supporter head end 41 is fixed on base 1; In supporter, with flexible circular arc fragment 43, the thickness of its flexible circular arc fragment is less than the other parts of structure out and away, forms flexible hinge; The reinforcing end 42 of supporter is positioned at precompression bringing device 6.Centered by supporter head end 41, by precompression bringing device 6, the afterburning end 42 of supporter is loaded to precompression, the flexible hinge 43 that promotes supporter is out of shape to realize the pre-pressure loading of stator 3 to mover 5 in stator place plane.This device has limited displacement and the rotation of stator, has ensured the stability of stator movement, thereby can reduce the idle work of stator, raises the efficiency.The flexible arc segment structure of the flexible hinge 43 in supporter fully little, its effect is effect given, mover has played whirligig while applying precompression, does not produce translation displacement simultaneously.
As shown in Fig. 2,4,6, the bite of the clamping and positioning device of the linear ultrasonic motor of one end flexible hinge has the contact point of flexible hinge point, spring-loaded point and fixed and moving sons at 3.In the outside of stator structure, form a larger delta-shaped region, this layout makes the structure of stator more stable.Due to the form of a bite employing flexible hinge, make stator around the area rotation of soft hinge, can apply infinite precompression by 42 pairs of motors of the afterburning end of supporter in theory, this can facilitate motor to realize maximum power output.
Specific embodiments 2 is changes of carrying out on the basis of scheme 1, and the principle of two clamping and positioning devices is essentially identical.Scheme 1 and scheme 2 are all centered by supporter head end, by precompression bringing device, the reinforcing end of supporter are carried out to the afterburning precompression changing between stator and mover.Main difference part is: in scheme 1, supporter head end is hinged on base by supporter whirligig, in supporter self structure, there is no flexible structure; In scheme 2, supporter head end is to be directly fixed on base, realizes rotation by the distortion of flexible structure, and then realizes the pre-pressure loading of motor.
Claims (2)
1. the clamping and positioning device of the hinged linear ultrasonic motor in one end, for the clamping position of linear ultrasonic motor; This linear ultrasonic motor comprises base (1), mover (5), V-arrangement stator (3), and this V-arrangement stator (3) is with two oscillators, and each oscillator is by front end housing, piezoelectric ceramic piece group, rear end cap composition; Be characterised in that:
This clamping and positioning device comprises supporter (4);
Above-mentioned supporter (4) comprises the first support arm and the second support arm, the first support arm is vertical with an oscillator of V-arrangement stator (3) respectively with the second support arm, each support arm is installed between two adjacent piezoelectric ceramic piece groups of corresponding oscillator, and is fixed together with corresponding oscillator by pretension bolt;
The first support arm end is called to supporter head end (41), and the second support arm end is called the afterburning end of supporter (42) also referred to as reinforcing end;
The afterburning end of supporter (42) of above-mentioned supporter (4) is positioned at precompression bringing device (6), and precompression bringing device (6) is arranged on base (1); By precompression bringing device (6), the afterburning end of supporter (42) is exerted pressure, realize the pre-pressure loading of stator (3) to mover (5);
Above-mentioned supporter head end (41) also has following two kinds of structures:
The first structure: supporter head end is installed on base (1) by whirligig (2); Described whirligig (2) has groove (22), and described supporter head end is positioned at this groove (22), forms rotational structure, and makes the supporter (4) only can be around supporter head end central rotation, and can not translation;
The second structure: supporter head end is fixed on base (1), and supporter head end is with flexible circular arc fragment (43), the thickness of this flexibility circular arc fragment is less than the other parts of supporter structure, form flexible hinge (43), supporter (4) only can be rotated around flexible hinge structure centre, and can not translation.
2. the clamping and positioning device of the hinged linear ultrasonic motor in one end according to claim 1, is characterized in that: above-mentioned precompression bringing device (6) is made up of fixture (61), spring (62), screw rod (63); The afterburning end of supporter contacts with spring (62), and it is upper that the afterburning end of supporter is enclosed within screw rod (63) together with spring (62), and it is upper that screw rod (63) is fixed on fixture (61), and fixture (61) is fixed on base (1).
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| CN201410166165.6A CN103944445A (en) | 2014-04-24 | 2014-04-24 | Linear ultrasonic motor clamping positioning device with one end supported in hinged mode |
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| CN201410166165.6A CN103944445A (en) | 2014-04-24 | 2014-04-24 | Linear ultrasonic motor clamping positioning device with one end supported in hinged mode |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105048863A (en) * | 2015-07-31 | 2015-11-11 | 南京航空航天大学 | Bending vibration mode-based linear ultrasonic motor and electric excitation method thereof |
| CN105515439A (en) * | 2016-01-08 | 2016-04-20 | 苏州市职业大学 | Laminated piezoelectric ceramic linear ultrasonic motor |
| CN105958860A (en) * | 2016-06-21 | 2016-09-21 | 中国地震局地震研究所 | Linear motor falling body mechanism for absolute gravimeter |
| CN107070296A (en) * | 2017-05-31 | 2017-08-18 | 南京航空航天大学 | The two-dimentional linear motion platform and fine motion method of Driven by Ultrasonic Motors |
| CN109802596A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | Deflect driving type piezoelectric actuator multi-freedom electric motor |
| CN111085950A (en) * | 2019-12-11 | 2020-05-01 | 江苏大学 | Pre-pressure applying device of floating self-balancing ultrasonic motor |
| CN113950794A (en) * | 2019-05-10 | 2022-01-18 | 米尼斯怀斯股份公司 | Drive unit and method for operating a drive unit |
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| CN201656810U (en) * | 2010-01-14 | 2010-11-24 | 南京航空航天大学 | K-shaped linear ultrasonic motor clamping and positioning device based on continuous amplitude transformer principle |
| CN101984550A (en) * | 2010-11-24 | 2011-03-09 | 南京航空航天大学 | Flexible hinge based clamping and positioning device for linear ultrasonic motor |
| JP2013182491A (en) * | 2012-03-02 | 2013-09-12 | Fukoku Co Ltd | Input device |
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| CN201656810U (en) * | 2010-01-14 | 2010-11-24 | 南京航空航天大学 | K-shaped linear ultrasonic motor clamping and positioning device based on continuous amplitude transformer principle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048863A (en) * | 2015-07-31 | 2015-11-11 | 南京航空航天大学 | Bending vibration mode-based linear ultrasonic motor and electric excitation method thereof |
| CN105515439A (en) * | 2016-01-08 | 2016-04-20 | 苏州市职业大学 | Laminated piezoelectric ceramic linear ultrasonic motor |
| CN105958860A (en) * | 2016-06-21 | 2016-09-21 | 中国地震局地震研究所 | Linear motor falling body mechanism for absolute gravimeter |
| CN105958860B (en) * | 2016-06-21 | 2017-12-05 | 中国地震局地震研究所 | Linear electric motors falling bodies mechanism for absolute gravimeter |
| CN107070296A (en) * | 2017-05-31 | 2017-08-18 | 南京航空航天大学 | The two-dimentional linear motion platform and fine motion method of Driven by Ultrasonic Motors |
| CN107070296B (en) * | 2017-05-31 | 2023-06-23 | 南京航空航天大学 | Ultrasonic motor driven two-dimensional linear motion platform and micro-motion method |
| CN109802596A (en) * | 2019-01-31 | 2019-05-24 | 河北科技大学 | Deflect driving type piezoelectric actuator multi-freedom electric motor |
| CN109802596B (en) * | 2019-01-31 | 2020-08-04 | 河北科技大学 | Deflection piezoelectric driving type multi-freedom-degree motor |
| CN113950794A (en) * | 2019-05-10 | 2022-01-18 | 米尼斯怀斯股份公司 | Drive unit and method for operating a drive unit |
| CN111085950A (en) * | 2019-12-11 | 2020-05-01 | 江苏大学 | Pre-pressure applying device of floating self-balancing ultrasonic motor |
| CN111085950B (en) * | 2019-12-11 | 2021-07-20 | 江苏大学 | Pre-pressure applying device of floating self-balancing ultrasonic motor |
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Application publication date: 20140723 |