CN104362894A - Ultrasonic motor and using method for muddy environment walking - Google Patents
Ultrasonic motor and using method for muddy environment walking Download PDFInfo
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- CN104362894A CN104362894A CN201410614544.7A CN201410614544A CN104362894A CN 104362894 A CN104362894 A CN 104362894A CN 201410614544 A CN201410614544 A CN 201410614544A CN 104362894 A CN104362894 A CN 104362894A
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Abstract
The invention discloses an ultrasonic motor for muddy environment walking. The motor comprises a vibrator, a piezoelectric ceramic and a drive supplying the alternate current for the piezoelectric ceramic. The vibrator is of a T-shaped thin sheet, a piezoelectric ceramic sheet 1 is fitted to the upper surface of a beam 5 of the T-shaped thin sheet, and the direction of polarization of the piezoelectric ceramic sheet 1 is a negative one bonded with the T-shaped thin sheet; the direction of polarization of a piezoelectric ceramic sheet 2 is opposite to that of a piezoelectric ceramic sheet 3, the direction of polarization of a piezoelectric ceramic sheet 2 is a negative one bonded with the T-shaped thin sheet, and the direction of polarization of the piezoelectric ceramic sheet 3 is a positive one bonded with the T-shaped thin sheet. The ultrasonic motor is driven through the converse piezoelectric effect of piezoelectric ceramics, the muddy environment serves as a stator, a motor body serves as a rotor, the size is small, the motor is capable of moving vertically besides of moving in a linear manner, and the advancing direction of the motor is adjusted to arrive in optional position of the mud; compared with an electromagnetic motor, the motor has the advantages that size is small, and electromagnetic interference is avoided.
Description
Technical field
The present invention relates to technical field of medical instruments, specifically, the present invention relates to a kind of ultrasound electric machine of walking for muddy environment and using method.
Background technology
Piezoelectric ultrasonic motor is a kind of inverse piezoelectric effect utilizing piezoelectric ceramic, motivate the vibration in supersonic range in the elastomer, the motion with specific rule is formed at the point of surface of elastomer or specific region, and then make elastomer or the object movement (motion parts is called mover or rotor, and stationary part is called stator) with elastomer contact.
The t type linear ultrasonic motor oscillator of patent 200910306062.4, its structure is with ultrasonic transformer, utilizes piezoelectric ceramic D33 effect to clamp piezoelectric ceramic and carries out work.
Summary of the invention
The object of the present invention is to provide a kind of ultrasound electric machine that can move linearly for muddy environment and turn to.Its volume is little, in muddy middle walking, and can adjust direction of travel.Can carry and coordinate Medical Instruments to be used for carrying out stomach inspection and operation, can be external by checked people's Self-discharged, reduce painful.
Technical scheme provided by the invention is: a kind of ultrasound electric machine of walking for muddy environment, involving vibrations body and piezoelectric ceramic, and provide the driver of alternating current for piezoelectric ceramic, described vibrating body is T-shaped thin slice, crossbeam 5 upper surface of T-shaped thin slice posts one piece of piezoelectric ceramic piece 1, the riser 4 of T-shaped thin slice posts piezoelectric ceramic piece 2 and piezoelectric ceramic piece 3 on the surface respectively, and piezoelectric ceramic piece 2 is near 1/3 place of the crossbeam 5 of T-shaped thin slice, and piezoelectric ceramic piece 3 is from 3/2 place of the crossbeam 5 of T-shaped thin slice; Piezoelectric ceramic piece 2 is identical with the width of the riser 4 of T-shaped thin slice with the width of piezoelectric ceramic piece 3, and length is 1/4 length of riser 4 length of T-shaped thin slice; The polarised direction of piezoelectric ceramic piece 1 is that negative pole and T-shaped thin slice bond; Piezoelectric ceramic piece 2 polarised direction is contrary with the direction of piezoelectric ceramic piece 3, and piezoelectric ceramic piece 2 polarised direction negative pole and T-shaped thin slice bond, and piezoelectric ceramic piece 3 is that positive pole and T-shaped thin slice bond.
Present invention also offers a kind of using method of ultrasound electric machine of walking for muddy environment, when ultrasound electric machine need forwards, backwards rectilinear motion time, by sinusoidal voltage E on piezoelectric ceramic piece 1 and piezoelectric ceramic piece 2
1=Vsin (w
1t), piezoelectric ceramic piece 3 applies E
2=Vcos (w
1t), riser 4 direction of T-shaped thin slice produces 2 rank vibrations, the crossbeam 5 of T-shaped thin slice produces porpoise, produces along the elliptic motion on riser 4 at crossbeam 5 two ends of T-shaped thin slice, make ultrasound electric machine produce riser 4 side and move upward;
When needs ultrasound electric machine produces side-to-side movement, then on piezoelectric ceramic piece 1, apply sinusoidal voltage E
3=Vsin (w
2t), make on the crossbeam 5 of T-shaped thin slice, produce 2 rank vibrations, piezoelectric ceramic piece 2 and piezoelectric ceramic piece 3 apply E
4=Vcos (w
2t) voltage, makes the crossbeam 5 of T-shaped thin slice produce transversal stretching, crossbeam 5 two ends of T-shaped thin slice is produced along the elliptic motion on the crossbeam 5 of T-shaped thin slice, makes ultrasound electric machine produce motion in the horizontal; Wherein, E
1for frequency be W1, voltage be V volt sinusoidal voltage, E
2for frequency be W1, voltage be V volt cosine alternating voltage, E
3for frequency be W2, voltage be V volt sinusoidal voltage, E
4for frequency be W2, voltage be V volt cosine alternating voltage, V is the amplitude of alternating voltage, W
1for the frequency of E1, E2 alternating voltage, W
2for the frequency of E3, E4 alternating voltage, t is the time.
The invention has the beneficial effects as follows:
The present invention utilizes piezoelectric ceramic inverse piezoelectric effect to drive ultrasound electric machine, and using muddy environment as stator, ultrasound electric machine body is mover, structure is simple, volume is little, except rectilinear motion, can also move in the vertical direction, thus adjustment ultrasound electric machine direction of advance, in muddy middle arrival optional position.With compared with electromagnetic machine, volume is little, without electromagnetic interference.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, by referring to detailed description below, more completely can understand the present invention better and easily learn wherein many adjoint advantages, but accompanying drawing described herein is used to provide a further understanding of the present invention, form a part of the present invention, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention, wherein:
Fig. 1 is ultrasound electric machine structural representation of the present invention;
Fig. 2 is the upper second-order modal of T-shaped ultrasound electric machine riser direction (x-z direction) of the present invention;
Fig. 3 is the upper second-order modal in the present invention's T-shaped ultrasound electric machine crossbeam direction (y-z direction);
Fig. 4 is that crossbeam two ends elliptic motion (y-z direction) makes ultrasound electric machine at the schematic diagram moved along riser (y direction);
Fig. 5 is that crossbeam two ends elliptic motion (x-z direction) makes ultrasound electric machine at the schematic diagram moved along crossbeam (x direction).
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
With reference to figure 1, as shown in Figure 1, a kind of ultrasound electric machine of walking for muddy environment of the present invention, involving vibrations body and piezoelectric ceramic, and provide the driver of alternating current for piezoelectric ceramic, described vibrating body is T-shaped thin slice, crossbeam 5 upper surface of T-shaped thin slice posts one piece of piezoelectric ceramic piece 1, the riser 4 of T-shaped thin slice posts piezoelectric ceramic piece 2 and piezoelectric ceramic piece 3 on the surface respectively, and piezoelectric ceramic piece 2 is near 1/3 place of the crossbeam 5 of T-shaped thin slice, and piezoelectric ceramic piece 3 is from 3/2 place of the crossbeam 5 of T-shaped thin slice; Piezoelectric ceramic piece 2 is identical with the width of the riser 4 of T-shaped thin slice with the width of piezoelectric ceramic piece 3, and length is 1/4 length of riser 4 length of T-shaped thin slice; The polarised direction of piezoelectric ceramic piece 1 is that negative pole and T-shaped thin slice bond; Piezoelectric ceramic piece 2 polarised direction is contrary with the direction of piezoelectric ceramic piece 3, and piezoelectric ceramic piece 2 polarised direction negative pole and T-shaped thin slice bond, and piezoelectric ceramic piece 3 is that positive pole and T-shaped thin slice bond.
When this ultrasound electric machine tandem of needs moves, motion has the two ends of the crossbeam of T-shaped thin slice to do elliptic motion, at this moment be that piezoelectric ceramic 1 is subject to sinusoidal voltage excitation, transverse sheet is produced seesaw, piezoelectric ceramic piece 2 and 3 is subject to phase 90 ° of sinusoidal voltage excitations respectively simultaneously, make T-shaped riser be operated on second-order modal, now elliptic motion is synthesized in the longitudinal direction in the two ends of crossbeam, and this motor can be travelled forward.
When this ultrasound electric machine of needs moves leftwards and rightwards, change the driving frequency of three blocks of piezoelectric ceramic, make transverse sheet laterally be operated on second-order modal, elliptic motion is synthesized in left and right at this moment horizontal two ends, and this motor is moved leftwards and rightwards.
Its precompression is provided by motor body own wt.
Ultrasound electric machine of the present invention need forwards, backwards rectilinear motion time, by sinusoidal voltage E on piezoelectric ceramic piece 1 and piezoelectric ceramic piece 2
1=Vsin (w
1t), piezoelectric ceramic piece 3 applies E
2=Vcos (w
1t), be 38khz in this example, make riser 4 direction of T-shaped thin slice to produce 2 rank vibration (going out as shown in Figure 2), the crossbeam 5 of T-shaped thin slice produces porpoise, produce along the elliptic motion on riser 4 (y-z direction) at crossbeam 5 two ends of T-shaped thin slice, make ultrasound electric machine produce riser 4 side to move upward, go out as shown in Figure 4.
When needs ultrasound electric machine produces side-to-side movement, then on piezoelectric ceramic piece 1, apply sinusoidal voltage E
3=Vsin (w
2t), make on the crossbeam 5 of T-shaped thin slice, produce 2 rank vibration (going out as shown in Figure 3), piezoelectric ceramic piece 2 and piezoelectric ceramic piece 3 apply E
4=Vcos (w
2t) voltage, makes the crossbeam 5 of T-shaped thin slice produce transversal stretching, crossbeam 5 two ends of T-shaped thin slice is produced along the elliptic motion on the crossbeam 5 (x-z direction) of T-shaped thin slice, makes ultrasound electric machine produce motion in the horizontal, go out as shown in Figure 5.
The explanation of above example just understands core concept of the present invention for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (2)
1. a ultrasound electric machine of walking for muddy environment, involving vibrations body and piezoelectric ceramic, and provide the driver of alternating current for piezoelectric ceramic, it is characterized in that, described vibrating body is T-shaped thin slice, crossbeam (5) upper surface of T-shaped thin slice posts one piece of piezoelectric ceramic piece (1), the riser (4) of T-shaped thin slice posts piezoelectric ceramic piece (2) and piezoelectric ceramic piece (3) on the surface respectively, piezoelectric ceramic piece (2) is near 1/3 place of the crossbeam (5) of T-shaped thin slice, and piezoelectric ceramic piece (3) is from crossbeam (5) 3/2 place of T-shaped thin slice; Piezoelectric ceramic piece (2) is identical with the width of the riser (4) of T-shaped thin slice with the width of piezoelectric ceramic piece (3), and length is 1/4 length of riser (4) length of T-shaped thin slice; The polarised direction of piezoelectric ceramic piece (1) is that negative pole and T-shaped thin slice bond; Piezoelectric ceramic piece (2) polarised direction is contrary with the direction of piezoelectric ceramic piece (3), and piezoelectric ceramic piece (2) polarised direction negative pole and T-shaped thin slice bond, and piezoelectric ceramic piece (3) is then that positive pole and T-shaped thin slice bond.
2. a using method for a kind of ultrasound electric machine of walking for muddy environment as claimed in claim 1, is characterized in that,
When ultrasound electric machine need forwards, backwards rectilinear motion time, by sinusoidal voltage E on piezoelectric ceramic piece (1) and piezoelectric ceramic piece (2)
1=V sin (w
1t), piezoelectric ceramic piece (3) applies E
2=V cos (w
1t), riser (4) direction of T-shaped thin slice produces 2 rank vibrations, the crossbeam (5) of T-shaped thin slice produces porpoise, produce along the elliptic motion on riser (4) at crossbeam (5) two ends of T-shaped thin slice, make ultrasound electric machine produce riser (4) side and move upward;
When needs ultrasound electric machine produces side-to-side movement, then at piezoelectric ceramic piece (1) upper applying sinusoidal voltage E
3=V sin (w
2t), make, in the upper generation 2 rank vibration of the crossbeam (5) of T-shaped thin slice, piezoelectric ceramic piece (2) and piezoelectric ceramic piece (3) to apply E
4=V cos (w
2t) voltage, the crossbeam (5) of T-shaped thin slice is made to produce transversal stretching, the crossbeam of T-shaped thin slice (5) two ends are produced along the elliptic motion on the crossbeam (5) of T-shaped thin slice, makes ultrasound electric machine produce motion in the horizontal; Wherein,
E
1for frequency be W1, voltage be V volt sinusoidal voltage, E
2for frequency be W1, voltage be V volt cosine alternating voltage, E
3for frequency be W2, voltage be V volt sinusoidal voltage, E
4for frequency be W2, voltage be V volt cosine alternating voltage, V is the amplitude of alternating voltage, W
1for the frequency of E1, E2 alternating voltage, W
2for the frequency of E3, E4 alternating voltage, t is the time.
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| CN201410614544.7A CN104362894B (en) | 2014-11-04 | 2014-11-04 | Ultrasonic motor and using method for muddy environment walking |
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| CN201410614544.7A CN104362894B (en) | 2014-11-04 | 2014-11-04 | Ultrasonic motor and using method for muddy environment walking |
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| CN104362894A true CN104362894A (en) | 2015-02-18 |
| CN104362894B CN104362894B (en) | 2017-01-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104967355A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Bionic crawling multi-foot linear piezoelectric actuator |
| CN109787506A (en) * | 2019-02-28 | 2019-05-21 | 长安大学 | A kind of Piezoelectric Driving micro motor device and its working method based on cantilever beam vibration |
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| CN1633022A (en) * | 2004-12-24 | 2005-06-29 | 清华大学 | Piezoelectric ceramic metal composite plate in-plane vibration linear ultrasound motor |
| CN101371132A (en) * | 2006-01-23 | 2009-02-18 | 德雷塞尔大学 | Self-exciting, self-sensing piezoelectric cantilever sensor |
| CN101976969A (en) * | 2010-10-18 | 2011-02-16 | 南京航空航天大学 | Linear buckling ultrasonic motor and electric excitation mode thereof |
| US20140210314A1 (en) * | 2007-08-31 | 2014-07-31 | Rf Micro Devices, Inc. | Mems vibrating structure using an orientation dependent single-crystal piezoelectric thin film layer |
| CN204206022U (en) * | 2014-11-04 | 2015-03-11 | 福建工程学院 | A kind of ultrasound electric machine of walking for muddy environment |
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2014
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1633022A (en) * | 2004-12-24 | 2005-06-29 | 清华大学 | Piezoelectric ceramic metal composite plate in-plane vibration linear ultrasound motor |
| CN101371132A (en) * | 2006-01-23 | 2009-02-18 | 德雷塞尔大学 | Self-exciting, self-sensing piezoelectric cantilever sensor |
| US20140210314A1 (en) * | 2007-08-31 | 2014-07-31 | Rf Micro Devices, Inc. | Mems vibrating structure using an orientation dependent single-crystal piezoelectric thin film layer |
| CN101976969A (en) * | 2010-10-18 | 2011-02-16 | 南京航空航天大学 | Linear buckling ultrasonic motor and electric excitation mode thereof |
| CN204206022U (en) * | 2014-11-04 | 2015-03-11 | 福建工程学院 | A kind of ultrasound electric machine of walking for muddy environment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104967355A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Bionic crawling multi-foot linear piezoelectric actuator |
| CN104967355B (en) * | 2015-07-20 | 2017-03-01 | 哈尔滨工业大学 | Simulating crawling polypody linear piezoelectric actuator |
| CN109787506A (en) * | 2019-02-28 | 2019-05-21 | 长安大学 | A kind of Piezoelectric Driving micro motor device and its working method based on cantilever beam vibration |
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| CN104362894B (en) | 2017-01-18 |
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