CN104362897A - Single-electric-signal-driven rotary ultrasonic motor - Google Patents
Single-electric-signal-driven rotary ultrasonic motor Download PDFInfo
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- CN104362897A CN104362897A CN201410740150.6A CN201410740150A CN104362897A CN 104362897 A CN104362897 A CN 104362897A CN 201410740150 A CN201410740150 A CN 201410740150A CN 104362897 A CN104362897 A CN 104362897A
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- ultrasonic motor
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- elliptical vibration
- rotary ultrasonic
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Abstract
The invention discloses a single-electric-signal-driven rotary ultrasonic motor. The single-electric-signal-driven rotary ultrasonic motor comprises a core shaft, and a rear cover plate, piezoelectric ceramic plates, electrode plates, an elliptical vibration mode converter, a friction disc, a bearing, a spring and a nut which are sequentially arranged on the core shaft in a sleeving manner; the core shaft, the rear cover plate, the piezoelectric ceramic plates, the electrode plates and the elliptical vibration mode converter form a stator part of the ultrasonic motor; the friction disc and the bearing form a rotor part of the ultrasonic motor; the spring and the nut form a positive-pressure pre-tightening force adjusting mechanism of the rotor part and the stator part of the ultrasonic motor. According to the single-electric-signal-driven rotary ultrasonic motor, by virtue of the elliptical vibration mode converter specially designed by compounding straight beams and oblique beams, and by virtue of longitudinal vibration modes of a group of piezoelectric ceramics, elliptical track movement of mass points at the end surfaces of drive teeth of the stator is carried out, so that the rotor is driven to rotate. The single-electric-signal-driven rotary ultrasonic motor has the advantages of being simple in structure, easy to manufacture, easy to miniaturize and integrate, low in cost, easy to control and the like, and has wide application prospects.
Description
Technical field
The present invention relates to the ultrasound electric machine field utilizing piezoelectric ceramic inverse piezoelectric effect, especially relate to a kind of rotary ultrasonic motor utilizing the single-electrical signal of ultrasonic elliptical vibratory to drive.
Background technology
Rotary ultrasonic motor is the novel electrical micro-machine of one developing rapidly and apply the eighties in 20th century, it is the electric coupling apparatus utilizing the inverse piezoelectric effect of piezoelectric to realize electric energy-mechanic to change, by the rubbing action between stators and rotators, elastomeric micro breadth oscillation is converted to macroscopical rotary motion of rotor, directly promote load.The problems such as in current existing rotary-type ultrasound electric machine, ubiquity driving moment is little, and axial volume is large, wearing and tearing difference in the internal-and external diameter contact zone of rotor is large, functional reliability is low.
Single-electrical signal driven-mode conversion hysteria ultrasound electric machine is also the one of ultrasound electric machine, and it is the driving utilizing one group of piezo ceramic element, makes stator produce the complex vibration with two kinds of mode of oscillation components by the modal transducer of special construction.If there is certain phase difference between these two mode of oscillations and frequency is close, on stators and rotators contact interface, the end face particle of stator will produce elliptic vibrations, thus obtains motion and the moment of torsion of rotor by the friction between stators and rotators.
Be CN101860259A at publication number, denomination of invention is in the patent documentation of " single-electrical signal-stimulated rotation ultrasonic motor ", disclose a kind of window shape dislocation modal transducer that utilizes and sandwich oscillator generation extensional vibration is converted to driving gear particle elliptical vibration, and then drive the ultrasound electric machine of rotor turns, this invention control-driven system is simple, assembling easily, but its window shape dislocation modal transducer manufacture difficulty is larger, production cost is higher, constrains its promotion and application in the industrial production.
Be CN101030740A at publication number, denomination of invention is in the patent documentation of " bending-rotation ultrasonic motor of singlephase drive ", the structure disclosing a kind of body is the singlephase drive standing wave rotary ultrasonic motor of taper, this motor relies on six piezoelectric ceramic pieces be superimposed together vertically to excite the vibration of stator, and six piezoelectric ceramic pieces rely on clamp nut and last item cover to be fixed on axis.Although this motor has the advantages such as output torque is larger, but its complex structure, and misplace because the screw (revolving force) of clamp nut very easily causes between piezoelectric ceramic piece in the compaction process of piezoelectric ceramic piece, be difficult to the technical requirement ensureing dislocation 60 degree between adj acent piezoelectric potsherd; In addition, be not with any positioner between this motor stator and rotor, this makes stator and rotor contact position precision between the two be affected, and then affects the stability of motor torque and speed; There is complex structure in this type of rotary ultrasonic motor, making and installation is more difficult, the problem such as cost is higher, poor stability of motor torque and speed.
Summary of the invention
The invention provides the rotary ultrasonic motor that a kind of novel single-electrical signal drives, object is to overcome the deficiency existed in above-mentioned rotary ultrasonic motor, there is provided that a kind of structure is simple, power output is large, the rotary ultrasonic motor that the single-electrical signal that cost is low, the life-span is long, motor output torque is large drives.
A kind of single-electrical signal drives rotary ultrasonic motor, it is characterized in that: comprise axle and be set in back shroud, piezoelectric ceramic piece, electrode slice, elliptical vibration modal transducer, frictional disk, bearing, spring and the nut in axle successively; Described axle, back shroud, piezoelectric ceramic piece, electrode slice, elliptical vibration modal transducer form the stationary part of described ultrasound electric machine, axle and elliptical vibration modal transducer are by being fixed back shroud, piezoelectric ceramic piece, electrode slice and elliptical vibration modal transducer after thread connection, constitute the energy conversion part of ultrasound electric machine, the ultrasonic electric energy that ultrasonic-frequency power supply exports is converted to the ultrasonic vibrational energy of stationary part.
Described elliptical vibration modal transducer is integrated, comprise the barrel portion of lower end and the driving gear part of upper end, described driving gear part is in the uniform upper end being arranged on barrel portion of circumferencial direction, the quantity of driving gear is 3-12, each driving gear composite construction being projected as straight beam and cant beam radially, the geometric centre axes of straight beam and the axis being parallel of barrel portion, one end of straight beam connects with the front end of barrel portion, and the other end overhangs; The side that straight beam axis is departed from one end of cant beam and the front end of barrel portion connects, the middle part of the other end and straight beam connects, the geometric centre axes of cant beam becomes 0-90 degree angle with the geometric centre axes of straight beam, and straight beam and cant beam are arc transition with the connection place of barrel portion and connect.
The object making driving gear form straight beam and cant beam composite construction is the mode of oscillation in order to change elliptical vibration modal transducer, make the longitudinal vibration mode frequency of driving gear and flexural vibration mode frequency close to or equal, due to the existence of straight beam and cant beam composite construction, the longitudinal ultrasonic vibration of the energy conversion part generation of ultrasound electric machine is after being delivered to cant beam, a part of extensional vibration component and a part of flexural vibrations component is decomposed at cant beam root, the extensional vibration component decomposed when cant beam and after flexural vibrations component is delivered to straight beam, with the extensional vibration phase compound that straight beam is propagated, finally formed at straight beam end and there is the extensional vibration component of certain phase difference and the ultrasonic elliptical vibratory of flexural vibrations component compound, namely elliptical vibration modal transducer driving gear end is converted to along the tangential vertical curved composite ultrasonic elliptical vibratory of ultrasound electric machine circumference.
Described frictional disk and bearing form the rotor portion of ultrasound electric machine; Described spring and nut form the malleation prefastening force adjustment mechanism of ultrasound electric machine rotor portion and stationary part.
Further, described elliptical vibration modal transducer driving gear end is bonded with A friction material.
Further, the end face described frictional disk contacted with driving gear is bonded with B friction material.
Further, described back shroud and described axle can manufacture split-type structural or integral structure.
Stator of the present invention adopts sandwich transducer structure, utilize the ellipse vibration mode converter of particular design, the longitudinal vibration mode of one group of piezoelectric ceramic is utilized to achieve the elliptical orbit motion of stator driving gear end face particle, driving rotor rotates, there is structure simple, power capacity is large, easy to manufacture, the advantages such as assembly difficulty is low; The present invention only needs one group of control circuit and driving power thereof in addition, and control-driven system is simple, easy to manufacture, and control difficulty little, reliability is high; Simultaneously the present invention have volume little, lightweight, be easy to microminiaturized, integrated, cost is low, low-speed big, noise are little, response is fast, positioning precision is high, without electromagnetic interference and the advantage such as environmental suitability is strong, have a extensive future.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is parts three-dimensional exploded schematic diagram of the present invention.
Fig. 3 is elliptical vibration modal transducer three-dimensional structure schematic diagram of the present invention.
Fig. 4 is application example schematic diagram of the present invention.
Number in the figure illustrates: 1. axle, 2. back shroud, 3. piezoelectric ceramic piece, 4. electrode slice, 5. elliptical vibration modal transducer, 6.A friction material, 7. B friction material, 8. frictional disk, 9. bearing, 10. spring, 11. nuts, 12. ultrasonic-frequency power supplies.
Embodiment
Shown in composition graphs 1,2,3,4, single-electrical signal of the present invention drives rotary ultrasonic motor, comprises axle 1 and is set in back shroud 2, piezoelectric ceramic piece 3, electrode slice 4, elliptical vibration modal transducer 5, frictional disk 8, bearing 9, spring 10 and the nut 11 in axle 1 successively; Described axle 1, back shroud 2, piezoelectric ceramic piece 3, electrode slice 4, elliptical vibration modal transducer 5 form the stationary part of described ultrasound electric machine, connected by the internal thread of the external screw thread in axle 1 and elliptical vibration modal transducer 5, back shroud 2, piezoelectric ceramic piece 3, electrode slice 4 and elliptical vibration modal transducer 5 are fixed, constitute the energy conversion part of ultrasound electric machine, the ultrasonic electric energy that ultrasonic-frequency power supply 12 exports can be converted to the ultrasonic vibrational energy of ultrasound electric machine, described back shroud 2 and described axle 1 manufacture split-type structural.
Elliptical vibration modal transducer 5 is integrated, comprise the barrel portion of lower end and the driving gear part of upper end, driving gear part is in the uniform upper end being arranged on barrel portion of circumferencial direction, the quantity of driving gear is 6, each driving gear composite construction being projected as straight beam and cant beam radially, each driving gear composite construction being projected as straight beam and cant beam radially, the geometric centre axes of straight beam and the axis being parallel of barrel portion, one end of straight beam connects with the front end of barrel portion, and the other end overhangs; The side that straight beam axis is departed from one end of cant beam and the front end of barrel portion connects, the middle part of the other end and straight beam connects, the geometric centre axes of cant beam becomes 30 degree of angles with the geometric centre axes of straight beam, straight beam and cant beam are arc transition with the connection place of barrel portion and connect, and arc radius is 1mm.
The straight beam width that driving gear radially projects is 2mm, is highly 7mm, and the cant beam width that driving gear radially projects is 1.5mm, and driving gear end is bonded with A friction material 6.
Frictional disk 8 and bearing 9 form the rotor portion of ultrasound electric machine, and be set in after frictional disk 8 and bearing 9 are connected by interference fits in axle 1, the end face that frictional disk 8 contacts with driving gear is bonded with B friction material 7; Described spring 10 and nut 11 form the malleation prefastening force adjustment mechanism of ultrasound electric machine rotor portion and stationary part, the decrement of spring 10 can be changed by the position of adjusting nut 11 in axle 1, thus regulating rotor to the precompression of motor stator, precompression is set as 6N.
Single-electrical signal drives rotary ultrasonic motor external diameter 10mm, and length 53mm, piezoelectric ceramic used is PZT-8, is of a size of
Ф 10 × Ф 5 × 2mm, natural frequency is 101.5KHz, and impedance is 56 ohm, dynamic electric resistor is 17 ohm, and ultrasonic-frequency power supply 12 output voltage range is 0-400V, and current range is 0-4A, output frequency is 101.5 ± 0.01KHz, and ultrasonic-frequency power supply 12 has automatic frequency tracking function in designated frequency range.
Shown in composition graphs 4, during operation, after single-electrical signal drives the electrode slice 4 of rotary ultrasonic motor to access the signal of telecommunication of ultrasonic-frequency power supply 12 output, due to the inverse piezoelectric effect of piezoelectric ceramic piece 3, piezoelectric ceramic piece 3 will produce longitudinal ultrasonic vibration, the electric energy exported by ultrasonic-frequency power supply 12 is converted to ultrasonic vibrational energy, and drive whole stator to carry out longitudinal ultrasonic vibration, after ultrasonic vibrational energy is delivered to elliptical vibration modal transducer 5 driving gear end from stator, be converted to the vertical curved composite ultrasonic elliptical vibratory of extensional vibration and the flexural vibrations compound with certain phase difference, namely elliptical vibration modal transducer 5 driving gear end is converted to along the tangential vertical curved composite ultrasonic elliptical vibratory of ultrasound electric machine circumference, driving gear end and frictional disk 8 contact, and then drive rotor to be rotated, after ultrasound electric machine runs 30 minutes continuously, ultrasonic-frequency power supply 12 output voltage is 100V, electric current is 0.24A, rotary speed of rotator is 536r/min, running status is good.
Claims (4)
1. single-electrical signal drives a rotary ultrasonic motor, it is characterized in that: comprise axle and be set in back shroud, piezoelectric ceramic piece, electrode slice, elliptical vibration modal transducer, frictional disk, bearing, spring and the nut in axle successively; Described axle, back shroud, piezoelectric ceramic piece, electrode slice, elliptical vibration modal transducer form the stationary part of described ultrasound electric machine, and axle and elliptical vibration modal transducer are by being fixed back shroud, piezoelectric ceramic piece, electrode slice and elliptical vibration modal transducer after thread connection; Described frictional disk and bearing form the rotor portion of ultrasound electric machine; Described spring and nut form the malleation prefastening force adjustment mechanism of ultrasound electric machine rotor portion and stationary part; Described elliptical vibration modal transducer is integrated, comprise the barrel portion of lower end and the driving gear part of upper end, described driving gear part is in the uniform upper end being arranged on barrel portion of circumferencial direction, the quantity of driving gear is 3-12, each driving gear composite construction being projected as straight beam and cant beam radially, the geometric centre axes of straight beam and the axis being parallel of barrel portion, one end of straight beam connects with the front end of barrel portion, and the other end overhangs; The side that straight beam axis is departed from one end of cant beam and the front end of barrel portion connects, the middle part of the other end and straight beam connects, the geometric centre axes of cant beam becomes 0-90 degree angle with the geometric centre axes of straight beam, and straight beam and cant beam are arc transition with the connection place of barrel portion and connect.
2. single-electrical signal according to claim 1 drives rotary ultrasonic motor, it is characterized in that: described back shroud and described axle are made into split-type structural or integral structure.
3. single-electrical signal according to claim 1 and 2 drives rotary ultrasonic motor, it is characterized in that: described elliptical vibration modal transducer driving gear end is bonded with A friction material.
4. single-electrical signal according to claim 1 and 2 drives rotary ultrasonic motor, it is characterized in that: the end face that described frictional disk contacts with driving gear is bonded with B friction material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410740150.6A CN104362897A (en) | 2014-12-09 | 2014-12-09 | Single-electric-signal-driven rotary ultrasonic motor |
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| CN201410740150.6A CN104362897A (en) | 2014-12-09 | 2014-12-09 | Single-electric-signal-driven rotary ultrasonic motor |
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| CN104362897A true CN104362897A (en) | 2015-02-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105939131A (en) * | 2015-03-04 | 2016-09-14 | 精工爱普生株式会社 | Piezoelectric drive device and robot |
| CN111014738A (en) * | 2019-12-14 | 2020-04-17 | 大连理工大学 | Single-excitation three-dimensional ultrasonic elliptical turning device |
| CN111014737A (en) * | 2019-12-14 | 2020-04-17 | 大连理工大学 | Single-excitation ultrasonic elliptical turning device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100141091A1 (en) * | 2008-12-09 | 2010-06-10 | Olympus Corporation | Ultrasonic motor |
| CN103199731A (en) * | 2013-05-08 | 2013-07-10 | 苏州科技学院 | Single-incentive linear ultrasonic motor |
| CN103414375A (en) * | 2013-08-26 | 2013-11-27 | 苏州科技学院 | Single-electric-signal driving rotating ultrasonic motor |
| CN103447557A (en) * | 2013-08-26 | 2013-12-18 | 苏州科技学院 | Single-driven ultrasonic elliptical vibration turning device |
| CN204271946U (en) * | 2014-12-09 | 2015-04-15 | 苏州科技学院 | A kind of single-electrical signal drives rotary ultrasonic motor |
-
2014
- 2014-12-09 CN CN201410740150.6A patent/CN104362897A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100141091A1 (en) * | 2008-12-09 | 2010-06-10 | Olympus Corporation | Ultrasonic motor |
| CN103199731A (en) * | 2013-05-08 | 2013-07-10 | 苏州科技学院 | Single-incentive linear ultrasonic motor |
| CN103414375A (en) * | 2013-08-26 | 2013-11-27 | 苏州科技学院 | Single-electric-signal driving rotating ultrasonic motor |
| CN103447557A (en) * | 2013-08-26 | 2013-12-18 | 苏州科技学院 | Single-driven ultrasonic elliptical vibration turning device |
| CN204271946U (en) * | 2014-12-09 | 2015-04-15 | 苏州科技学院 | A kind of single-electrical signal drives rotary ultrasonic motor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105939131A (en) * | 2015-03-04 | 2016-09-14 | 精工爱普生株式会社 | Piezoelectric drive device and robot |
| CN105939131B (en) * | 2015-03-04 | 2019-04-12 | 精工爱普生株式会社 | Piexoelectric actuator and robot |
| CN111014738A (en) * | 2019-12-14 | 2020-04-17 | 大连理工大学 | Single-excitation three-dimensional ultrasonic elliptical turning device |
| CN111014737A (en) * | 2019-12-14 | 2020-04-17 | 大连理工大学 | Single-excitation ultrasonic elliptical turning device |
| CN111014738B (en) * | 2019-12-14 | 2021-06-08 | 大连理工大学 | Single-excitation three-dimensional ultrasonic elliptical turning device |
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Address after: 215009 Suzhou City, Jiangsu province high tech Zone CREE Road, No. 1 Applicant after: Suzhou University of Science and Technology Address before: 215009 Suzhou City, Jiangsu province high tech Zone CREE Road, No. 1 Applicant before: University of Science and Technology of Suzhou |
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Application publication date: 20150218 |