CN104485837A - Composite vibrator standing wave ultrasonic motor and excitation method thereof - Google Patents
Composite vibrator standing wave ultrasonic motor and excitation method thereof Download PDFInfo
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- CN104485837A CN104485837A CN201410762747.0A CN201410762747A CN104485837A CN 104485837 A CN104485837 A CN 104485837A CN 201410762747 A CN201410762747 A CN 201410762747A CN 104485837 A CN104485837 A CN 104485837A
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Abstract
The invention discloses a composite vibrator standing wave ultrasonic motor and an excitation method thereof, and belongs to the technical field of ultrasonic motors. The composite vibrator standing wave ultrasonic motor comprises a first cylindrical counter weight, a second cylindrical counter weight, two groups of piezoelectric excitation sources, a driving foot and a screw, wherein the two groups of piezoelectric excitation sources are the first piezoelectric excitation source and the second piezoelectric excitation source, and each piezoelectric excitation source comprises five electrode slices and four piezoelectric ceramic pieces; the driving foot adopts a circular sheet structure; the screw penetrates the first counter weight, the first piezoelectric excitation source, the driving foot and the second piezoelectric excitation source in sequence and is tightly screwed through a threaded hole in the second counter weight. During excitation, an A-phase voltage excitation signal and a B-phase voltage excitation signal are applied to the first and the second piezoelectric excitation sources respectively; each of the A-phase voltage excitation signal and the B-phase voltage excitation signal is a constant-amplitude same-frequency sine voltage signal, and the A-phase voltage excitation signal and the B-phase voltage excitation signal has a pi/2 phase difference. The composite vibrator standing wave ultrasonic motor can obtain a relatively high mechanical quality factor and excite two modal states through only one transducer, and is compact in structure and high in efficiency.
Description
Technical field
The present invention relates to a kind of ultrasound electric machine and electric excitation method thereof thereof, belong to Ultrasonic Motor Techniques field.
Background technology
Ten thousand bright PZT (piezoelectric transducer)s are widely used in ultrasonic device, such as, and positioner, micro-control system, robot etc.Ten thousand bright PZT (piezoelectric transducer)s are made up of piezoelectric ceramic, metal weights and pre-loading screw, there is high mechanical quality factor, Low ESR and be easy to clamp feature.
When applying frequency and be the alternating electric field of transducer resonant frequencies in piezoelectric ceramic, ten thousand bright PZT (piezoelectric transducer)s inspire longitudinal vibration by the d33 effect of piezoelectric ceramic.Because the piezoelectric constant d33 of barium titanate piezoelectric ceramics is greater than d31, the piezoelectric actuator Billy of d33 effect is utilized to have higher efficiency with the piezoelectric actuator of d31 effect.Under the prestressing force effect that pre-loading screw applies, under being in action of compressive stress all the time during piezoelectric ceramic work, therefore, the sound conduction of transducer assemblies is more efficient, improves mechanical quality factor simultaneously.This makes Langevin transducer be applicable to the demand of large power supersonic device.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides that a kind of structure is simple, big thrust loading, high accuracy, fast-response linear ultrasonic motor.
For achieving the above object, the technical solution used in the present invention is: a kind of composite oscillator standing-wave ultrasonic motor, comprises cylinder counterweight, two groups of piezoelectric exciting sources, driving foot and screws; Described cylinder counterweight has two, is respectively first, second counterweight; And first, second counterweight is hollow structure; Described first counterweight is provided with unthreaded hole along cylinder axis, and the second counterweight is provided with screwed hole along cylinder axis, and the face of cylinder of first, second counterweight described is provided with clamp structure; Two groups of piezoelectric exciting sources are respectively first, second piezoelectric exciting source; Described driving foot is an annulus laminated structure, and outside this annulus, there is epitaxial structure, this epitaxial structure profile is surrounded by two tangent lines being symmetrical in diameter, and plane is cut in outer end, this plane orthogonal in the symmetry axis of two tangent lines, and is provided with the second projection on this plane; Screw is run through the first counterweight, the first piezoelectric exciting source successively, drives foot, the second piezoelectric exciting source being screwed by the screwed hole in the second counterweight.
Preferred: described clamp structure is the first projection that the face of cylinder of first, second counterweight is arranged, and described first projection is provided with installing hole.
Preferred: often to organize piezoelectric exciting source and include 5 plate electrode sheets and 4 piezoelectric ceramic pieces, described electrode slice and piezoelectric ceramic piece are arranged alternately, and described electrode slice lays respectively at the coincidence of on piezoelectric ceramic piece two anchor rings and the center of circle, the polarised direction of described piezoelectric ceramic piece is relative between two simultaneously.
Preferred: the rotor turns or mover translation that drive the vibration of the projection on sufficient epitaxial structure end face to cause to contact with it.
A kind of motivational techniques of composite oscillator standing-wave ultrasonic motor, first, second piezoelectric exciting source applies A, B two-phase voltage excitation signals respectively, described A, B two-phase voltage excitation signals is the same sine voltage signal frequently of constant amplitude, and two phase voltage signals have the phase difference of pi/2.
Preferred: the electrode slice on first, second piezoelectric exciting source connects wire respectively, often organize the electrode slice of both sides and centre in exciting source through wired earth, all the other two panels electrode slices apply identical voltage excitation signals, and described voltage excitation signals is divided into A, B two-phase.
Preferred: when applying A, B two-phase voltage excitation signals respectively on first, second piezoelectric exciting source, drive the second projection generation elliptic vibrations on sufficient epitaxial structure end face.
A kind of composite oscillator standing-wave ultrasonic motor provided by the invention and motivational techniques thereof, compared to existing technology, have following beneficial effect: piezoelectric ceramic sandwich structure is arranged can obtain comparatively high mechanical quality factor, transducer only has one, can excite two mode, compact conformation, efficiency is high simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of composite oscillator standing-wave ultrasonic motor structure;
Fig. 2 is composite oscillator standing-wave ultrasonic motor energisation mode schematic diagram;
Fig. 3 is piezoelectric ceramic polarised direction schematic diagram;
Fig. 4 drives schematic diagram for driving rotor turns;
Fig. 5 is for driving mover linear movement output schematic diagram;
Wherein, 1-PZT (piezoelectric transducer); 2-clamp structure; 3-drives foot; 4-rotor; 5-stator.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
A kind of composite oscillator standing-wave ultrasonic motor, as shown in Figure 1, comprises cylinder counterweight, two groups of piezoelectric exciting sources, driving foot and screws; Described cylinder counterweight has two, is respectively first, second counterweight; And first, second counterweight is hollow structure; Described first counterweight is provided with unthreaded hole along cylinder axis, and the second counterweight is provided with screwed hole along cylinder axis, and the face of cylinder of first, second counterweight described is provided with clamp structure; Two groups of piezoelectric exciting sources are respectively first, second piezoelectric exciting source; Described driving foot is an annulus laminated structure, and outside this annulus, there is epitaxial structure, this epitaxial structure profile is surrounded by two tangent lines being symmetrical in diameter, and plane is cut in outer end, this plane orthogonal in the symmetry axis of two tangent lines, and is provided with the second projection on this plane; Screw is run through the first counterweight, the first piezoelectric exciting source successively, drives foot, the second piezoelectric exciting source being screwed by the screwed hole in the second counterweight.
Described clamp structure is the first projection that the face of cylinder of first, second counterweight is arranged, and described first projection is provided with installing hole.
Often organize piezoelectric exciting source and include 5 plate electrode sheets and 4 piezoelectric ceramic pieces, described electrode slice and piezoelectric ceramic piece are arranged alternately, and described electrode slice lays respectively at the coincidence of on piezoelectric ceramic piece two anchor rings and the center of circle, the polarised direction of described piezoelectric ceramic piece is relative between two simultaneously.
The rotor turns or mover translation that drive the vibration of the projection on sufficient epitaxial structure end face to cause to contact with it.
A kind of motivational techniques of composite oscillator standing-wave ultrasonic motor, first, second piezoelectric exciting source applies A, B two-phase voltage excitation signals respectively, described A, B two-phase voltage excitation signals is the same sine voltage signal frequently of constant amplitude, and two phase voltage signals have the phase difference of pi/2.
Electrode slice on first, second piezoelectric exciting source connects wire respectively, and often organize the electrode slice of both sides and centre in exciting source through wired earth, all the other two panels electrode slices apply identical voltage excitation signals, and described voltage excitation signals is divided into A, B two-phase.
First, second piezoelectric exciting source applies A, B two-phase voltage excitation signals respectively, drive the second projection generation elliptic vibrations on sufficient epitaxial structure end face.
The present invention will be described to provide example of the present invention below.
A kind of composite oscillator standing-wave ultrasonic motor, as Fig. 1, is made up of shaft-like sandwich structure PZT (piezoelectric transducer) (1), clamp structure (2) and driving foot (3); Two shaft-like sandwich structure PZT (piezoelectric transducer)s (1) are arranged in juxtaposition, and centre links into an integrated entity through arched girder structure (2) and T-shaped frame (3), and be provided with projection in the middle part of domes, T-shaped chord position is arranged in arched girder structure bilateral symmetry.
As Fig. 1, be made up of cylinder counterweight, two groups of piezoelectric exciting sources, driving foot and screws; Described cylinder counterweight has two, and be all hollow structure, one of them is provided with unthreaded hole along cylinder axis, another is provided with screwed hole, the counterweight being provided with screwed hole has one end to be provided with annular protrusions, and the face of cylinder of two counterweights is provided with identical projection, and projection is provided with installing hole; Described two groups of piezoelectric exciting sources often group are made up of 5 plate electrode sheets and 4 piezoelectric ceramic, and the polarised direction of potsherd is relative between two, and electrode slice lays respectively on potsherd two anchor rings and the center of circle and overlaps; Drive foot to be an annulus laminated structure, and have epitaxial structure outside annulus, this construction profile is surrounded by two tangent lines being symmetrical in diameter, and plane is cut in outer end, and this plane orthogonal is in the symmetry axis of two tangent lines, and plane is provided with projection; Screw runs through the counterweight, exciting source, driving foot and the exciting source that are provided with unthreaded hole successively, and is tightened on and is provided with in the counterweight of screwed hole, and the projection on two counterweight faces of cylinder is arranged in juxtaposition and is positioned at the opposite side driving sufficient epitaxial structure.
The energisation mode of composite oscillator standing-wave ultrasonic motor is as Fig. 2: on PZT (piezoelectric transducer) two groups of piezoelectric ceramic, apply Usin ω t, Ucos ω t two-phase voltage excitation signals respectively.PZT (piezoelectric transducer), under the excitation of two-phase voltage excitation signals, is driving the projection generation elliptic vibrations at foot middle part.
PZT (piezoelectric transducer) is made up of counterweight, driving foot, screw, piezoelectric ceramic and electrode slice.Counterweight has two, and be respectively band through hole cylinder and link into an integrated entity through screw, screw is by being positioned at center through hole; In described two counterweights, set through hole one is screwed hole, and another is unthreaded hole; The sufficient both sides of described driving are adjacent with two groups of piezoelectric ceramic.Drive foot to be laminated structure, its profile is the external isosceles trapezoid of annulus, and trapezoidal longer base is the diameter of annulus, and two waists are tangent with annulus respectively, are provided with projection at shorter the end, and this part and institute's drive member directly touch.Piezoelectric ceramic is ring-type, and its diameter is identical with counterweight outside diameter, and internal diameter is identical with the through hole that counterweight hits exactly.Electrode slice is soft conducting metal, has identical circular profile, and be equipped with projection outside with piezoelectric ceramic, for connecting energising lead-in wire.8 piezoelectric ceramic and 10 plate electrode sheets form 2 groups of identical exciting sources, often organize exciting source and are made up of 5 plate electrode sheets and 4 piezoelectric ceramic, and the polarised direction of potsherd is relative between two, and electrode slice lays respectively on potsherd two anchor rings and the center of circle and overlaps, as Fig. 3.Two groups of exciting sources are positioned at the both sides driving foot, and piezoelectric ceramic and electrode slice are combined into the dead in line of through hole in the central axis of exciting source and counterweight, two counterweights lay respectively at outside two groups of exciting sources, and through hole and two groups of exciting source central axes in counterweight, screw runs through the unthreaded hole in counterweight, two groups of upper unthreaded holes of exciting source centre-driven foot screwing in the screwed hole in another counterweight respectively.
As Fig. 2, electrode slice on described group of two exciting sources connects wire respectively, often organize the electrode slice of both sides and centre in exciting source through wired earth, all the other two panels electrode slices apply identical voltage excitation signals, and described voltage excitation signals is divided into Usin ω t, Ucos ω t two-phase.
Apply voltage drive to two groups of piezoelectric units by Fig. 2 mode, drive the projection at foot middle part with elliptic vibrations, will to defeat at another body surface by this projection with certain, unidirectional frictional force will be produced.
As shown in Figure 4, the rotor (4) contacted with it is caused to rotate by the vibration of described driving foot central protrusion.
As shown in Figure 5, cause by the vibration of described driving foot central protrusion mover (5) translation contacted with it.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a composite oscillator standing-wave ultrasonic motor, is characterized in that: comprise cylinder counterweight, two groups of piezoelectric exciting sources, driving foot and screws; Described cylinder counterweight has two, is respectively first, second counterweight; And first, second counterweight is hollow structure; Described first counterweight is provided with unthreaded hole along cylinder axis, and the second counterweight is provided with screwed hole along cylinder axis, and the face of cylinder of first, second counterweight described is provided with clamp structure; Two groups of piezoelectric exciting sources are respectively first, second piezoelectric exciting source; Described driving foot is an annulus laminated structure, and outside this annulus, there is epitaxial structure, this epitaxial structure profile is surrounded by two tangent lines being symmetrical in diameter, and plane is cut in outer end, this plane orthogonal in the symmetry axis of two tangent lines, and is provided with the second projection on this plane; Screw is run through the first counterweight, the first piezoelectric exciting source successively, drives foot, the second piezoelectric exciting source being screwed by the screwed hole in the second counterweight.
2. composite oscillator standing-wave ultrasonic motor according to claim 1, is characterized in that: described clamp structure is the first projection that the face of cylinder of first, second counterweight is arranged, and described first projection is provided with installing hole.
3. composite oscillator standing-wave ultrasonic motor according to claim 2, it is characterized in that: often organize piezoelectric exciting source and include 5 plate electrode sheets and 4 piezoelectric ceramic pieces, described electrode slice and piezoelectric ceramic piece are arranged alternately, and described electrode slice lays respectively at the coincidence of on piezoelectric ceramic piece two anchor rings and the center of circle, the polarised direction of described piezoelectric ceramic piece is relative between two simultaneously.
4. composite oscillator standing-wave ultrasonic motor according to claim 3, is characterized in that: the rotor turns or mover translation that drive the vibration of the projection on sufficient epitaxial structure end face to cause to contact with it.
5. the motivational techniques of a composite oscillator standing-wave ultrasonic motor as claimed in claim 1, it is characterized in that: on first, second piezoelectric exciting source, apply A, B two-phase voltage excitation signals respectively, described A, B two-phase voltage excitation signals is the same sine voltage signal frequently of constant amplitude, and two phase voltage signals have the phase difference of pi/2.
6. the motivational techniques of composite oscillator standing-wave ultrasonic motor according to claim 5, it is characterized in that: the electrode slice on first, second piezoelectric exciting source connects wire respectively, often organize the electrode slice of both sides and centre in exciting source through wired earth, all the other two panels electrode slices apply identical voltage excitation signals, and described voltage excitation signals is divided into A, B two-phase.
7. the motivational techniques of composite oscillator standing-wave ultrasonic motor according to claim 4, it is characterized in that: when applying A, B two-phase voltage excitation signals respectively on first, second piezoelectric exciting source, drive the second projection generation elliptic vibrations on sufficient epitaxial structure end face.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106059381A (en) * | 2016-06-06 | 2016-10-26 | 长春工业大学 | Piezoelectric stick-slip linear motor equipped with inclined-ladder-shaped amplitude amplifying mechanism, and excitation method for piezoelectric stick-slip linear motor |
| CN106078807A (en) * | 2016-08-12 | 2016-11-09 | 珠海格力智能装备有限公司 | Heavy burden assembly and there is its robot |
| CN107070297A (en) * | 2017-04-14 | 2017-08-18 | 哈尔滨工业大学 | Laminated type flexure type piezoelectric ceramic actuator |
| CN107707150A (en) * | 2017-11-09 | 2018-02-16 | 南京航空航天大学 | The ultrasound electric machine and method of work of screw thread pair driving based on bending vibration modes |
| CN112217415A (en) * | 2019-07-09 | 2021-01-12 | 重庆邮电大学 | Frame type three-degree-of-freedom piezoelectric resonance self-actuating mechanism and excitation method thereof |
| CN113938051A (en) * | 2021-09-29 | 2022-01-14 | 东北电力大学 | Two-parallel bending vibrator composite actuation stepping piezoelectric driver and working method thereof |
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| CN101072000A (en) * | 2007-03-26 | 2007-11-14 | 哈尔滨工业大学 | Single-driving foot sandwiched transducer type longitudinal bending linear ultrasonic motor |
| CN201854204U (en) * | 2010-11-25 | 2011-06-01 | 南京航空航天大学 | Linear ultrasonic motor based on alternating force |
| CN102739106A (en) * | 2012-06-26 | 2012-10-17 | 哈尔滨工业大学 | Bent vibration composite single-driving foot linear ultrasonic driver |
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2014
- 2014-12-11 CN CN201410762747.0A patent/CN104485837B/en not_active Expired - Fee Related
Patent Citations (4)
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| JPS63305773A (en) * | 1987-06-05 | 1988-12-13 | Alps Electric Co Ltd | Ultrasonic linear motor |
| CN101072000A (en) * | 2007-03-26 | 2007-11-14 | 哈尔滨工业大学 | Single-driving foot sandwiched transducer type longitudinal bending linear ultrasonic motor |
| CN201854204U (en) * | 2010-11-25 | 2011-06-01 | 南京航空航天大学 | Linear ultrasonic motor based on alternating force |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106059381A (en) * | 2016-06-06 | 2016-10-26 | 长春工业大学 | Piezoelectric stick-slip linear motor equipped with inclined-ladder-shaped amplitude amplifying mechanism, and excitation method for piezoelectric stick-slip linear motor |
| CN106059381B (en) * | 2016-06-06 | 2017-09-05 | 长春工业大学 | Inclined ladder type Amplitude amplification mechanism piezoelectricity stick-slip linear electric motors and its motivational techniques |
| CN106078807A (en) * | 2016-08-12 | 2016-11-09 | 珠海格力智能装备有限公司 | Heavy burden assembly and there is its robot |
| CN107070297A (en) * | 2017-04-14 | 2017-08-18 | 哈尔滨工业大学 | Laminated type flexure type piezoelectric ceramic actuator |
| CN107070297B (en) * | 2017-04-14 | 2019-03-29 | 哈尔滨工业大学 | Laminated type flexure type piezoelectric ceramic actuator |
| CN107707150A (en) * | 2017-11-09 | 2018-02-16 | 南京航空航天大学 | The ultrasound electric machine and method of work of screw thread pair driving based on bending vibration modes |
| CN112217415A (en) * | 2019-07-09 | 2021-01-12 | 重庆邮电大学 | Frame type three-degree-of-freedom piezoelectric resonance self-actuating mechanism and excitation method thereof |
| CN113938051A (en) * | 2021-09-29 | 2022-01-14 | 东北电力大学 | Two-parallel bending vibrator composite actuation stepping piezoelectric driver and working method thereof |
| CN113938051B (en) * | 2021-09-29 | 2023-09-29 | 东北电力大学 | Two-parallel bending vibrator compound actuation stepping piezoelectric driver and working method thereof |
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Granted publication date: 20170915 Termination date: 20201211 |