CN104485837B - A kind of composite oscillator standing-wave ultrasonic motor and its motivational techniques - Google Patents
A kind of composite oscillator standing-wave ultrasonic motor and its motivational techniques Download PDFInfo
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- CN104485837B CN104485837B CN201410762747.0A CN201410762747A CN104485837B CN 104485837 B CN104485837 B CN 104485837B CN 201410762747 A CN201410762747 A CN 201410762747A CN 104485837 B CN104485837 B CN 104485837B
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- counterweight
- piezoelectric
- ultrasonic motor
- exciting source
- piezoelectric exciting
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Abstract
The invention discloses a kind of composite oscillator standing-wave ultrasonic motor and its motivational techniques, belong to Ultrasonic Motor Techniques field, including cylinder counterweight, two groups of piezoelectric exciting sources, driving foot and screw；The cylinder counterweight has two, respectively first, second counterweight；Two groups of piezoelectric exciting sources are respectively first, second piezoelectric exciting source, and every group of piezoelectric exciting source includes 5 plate electrode pieces and 4 piezoelectric ceramic pieces；The driving foot is an annulus laminated structure；Screw sequentially passes through the first counterweight, the first piezoelectric exciting source, driving foot, the second piezoelectric exciting source and screwed by the screwed hole in the second counterweight.It applies A, B two-phase voltage pumping signal respectively when encouraging on first, second piezoelectric exciting source, A, B two-phase voltage pumping signal is constant amplitude with frequency sine voltage signal, and two-phase voltage signal has the phase difference of pi/2, the present invention can be obtained compared with high mechanical quality factor, transducer only has one, two mode, compact conformation, efficiency high can be excited simultaneously.
Description
Technical field
The present invention relates to a kind of ultrasound electric machine and its electric excitation method thereof, belong to Ultrasonic Motor Techniques field.
Background technology
Ten thousand bright PZT (piezoelectric transducer)s are widely used in ultrasonic device, for example, positioner, micro- steerable system, robot
Deng.Ten thousand bright PZT (piezoelectric transducer)s are made up of piezoelectric ceramics, metal weights and pre-loading screw, with high mechanical quality factor, low-resistance
The characteristics of resisting and be easy to clamping.
When applying the alternating electric field that frequency is transducer resonant frequencies in piezoelectric ceramics, bright ten thousand PZT (piezoelectric transducer)s by
The d33 effects of piezoelectric ceramics inspire longitudinal vibration.Because the piezoelectric constant d33 of barium titanate piezoelectric ceramics is more than d31, imitated using d33
The piezoelectric actuator Billy answered has higher efficiency with the piezoelectric actuator of d31 effects.Pre-loading screw applied it is pre- should
Under power effect, it is in all the time under action of compressive stress when piezoelectric ceramics works, therefore, the sound conduction of transducer assemblies is more efficient, together
When improve mechanical quality factor.This makes Langevin transducer suitable for the demand of large power supersonic device.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, present invention offer one kind is simple in construction, have an high regard for greatly
Than, high accuracy, the linear ultrasonic motor of fast-response.
To achieve the above object, the technical solution adopted by the present invention is：A kind of composite oscillator standing-wave ultrasonic motor, including circle
Post counterweight, two groups of piezoelectric exciting sources, driving foot and screw；The cylinder counterweight has two, respectively first, second counterweight；And
First, second counterweight is hollow structure；First counterweight is provided with unthreaded hole along cylinder axis, and the second counterweight is along cylinder axis
Provided with being provided with clamp structure on screwed hole, and the face of cylinder of first, second counterweight；Two groups of piezoelectric exciting sources are respectively
First, second piezoelectric exciting source；The driving foot is to have epitaxial structure on the outside of an annulus laminated structure, and the annulus, and this is outer
Prolong construction profile to be surrounded by two tangent lines for being symmetrical with diameter, plane is cut into outer end, pair of the plane perpendicular to two tangent lines
Claim axle, and be provided with the second projection on this plane；Screw sequentially passes through the first counterweight, the first piezoelectric exciting source, driving foot, second
Piezoelectric exciting source is simultaneously screwed by the screwed hole in the second counterweight.
It is preferred that：The clamp structure is the first projection for setting on the face of cylinder of first, second counterweight, and described first
Projection is provided with mounting hole.
It is preferred that：Every group of piezoelectric exciting source includes 5 plate electrode pieces and 4 piezoelectric ceramic pieces, the electrode slice and piezoelectricity
Potsherd is arranged alternately, and the electrode slice is located on two anchor rings of the piezoelectric ceramic piece and center of circle and overlapped respectively, while the pressure
The polarised direction of electroceramics piece is relative two-by-two.
It is preferred that：The vibration of projection on the sufficient epitaxial structure end face of driving causes the rotor rotation contacted or mover flat
It is dynamic.
A kind of motivational techniques of composite oscillator standing-wave ultrasonic motor, A, B are applied on first, second piezoelectric exciting source respectively
Two-phase voltage pumping signal, A, B two-phase voltage pumping signal be constant amplitude with frequency sine voltage signal, and two-phase voltage signal
Phase difference with pi/2.
It is preferred that：Both sides are with electrode slice difference connecting wire on first, second piezoelectric exciting source, every group of exciting source
Between electrode slice through wired earth, remaining two panels electrode slice applies identical voltage excitation signals, and the voltage excitation signals are divided into
A, B two-phase.
It is preferred that：In the case of applying A, B two-phase voltage pumping signal respectively on first, second piezoelectric exciting source, drive
Elliptic vibrations occur for the second projection on action spot epitaxial structure end face.
A kind of composite oscillator standing-wave ultrasonic motor and its motivational techniques that the present invention is provided, compared with prior art, with
Lower beneficial effect：Piezoelectric ceramics interlayer structure arrangement can be obtained compared with high mechanical quality factor, and transducer only has one, can swash simultaneously
Send out two mode, compact conformation, efficiency high.
Brief description of the drawings
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 ceramics polarised direction schematic diagram；
Fig. 4 rotates driving schematic diagram for driving rotor；
Fig. 5 is driving mover linear movement output schematic diagram；
Wherein, 1- PZT (piezoelectric transducer)s；2- clamp structures；3- driving foots；4- rotors；5- stators.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of composite oscillator standing-wave ultrasonic motor, as shown in figure 1, including cylinder counterweight, two groups of piezoelectric exciting sources, driving foots
And screw；The cylinder counterweight has two, respectively first, second counterweight；And first, second counterweight be hollow structure；Institute
State the first counterweight and be provided with unthreaded hole along cylinder axis, and the second counterweight is provided with screwed hole along cylinder axis, and described first, second matches somebody with somebody
Clamp structure is provided with the face of cylinder of weight；Two groups of piezoelectric exciting sources are respectively first, second piezoelectric exciting source；The driving
Foot is to have epitaxial structure on the outside of an annulus laminated structure, and the annulus, and the epitaxial structure profile is by being symmetrical with two of diameter
Tangent line is surrounded, and plane is cut into outer end, the plane perpendicular to two tangent lines symmetry axis, and on this plane provided with second dash forward
Rise；Screw sequentially passes through the first counterweight, the first piezoelectric exciting source, drives sufficient, the second piezoelectric exciting source and by the second counterweight
Screwed hole screw.
The clamp structure is the first projection set on the face of cylinder of first, second counterweight, and in first projection
Provided with mounting hole.
Every group of piezoelectric exciting source includes 5 plate electrode pieces and 4 piezoelectric ceramic pieces, and the electrode slice and piezoelectric ceramic piece are handed over
For setting, and the electrode slice is located at the coincidence of on two anchor rings of the piezoelectric ceramic piece and center of circle respectively, while the piezoelectric ceramic piece
Polarised direction it is relative two-by-two.
The vibration of projection on the sufficient epitaxial structure end face of driving causes the rotor contacted to rotate or mover translation.
A kind of motivational techniques of composite oscillator standing-wave ultrasonic motor, A, B are applied on first, second piezoelectric exciting source respectively
Two-phase voltage pumping signal, A, B two-phase voltage pumping signal be constant amplitude with frequency sine voltage signal, and two-phase voltage signal
Phase difference with pi/2.
Both sides and middle electricity in electrode slice difference connecting wire on first, second piezoelectric exciting source, every group of exciting source
Pole piece applies identical voltage excitation signals through wired earth, remaining two panels electrode slice, and the voltage excitation signals are divided into A, B two
Phase.
In the case of applying A, B two-phase voltage pumping signal respectively on first, second piezoelectric exciting source, the sufficient extension of driving
Elliptic vibrations occur for the second projection on structure end face.
Example of the present invention is given below, and the present invention will be described.
A kind of composite oscillator standing-wave ultrasonic motor, such as Fig. 1, by shaft-like interlayer structure PZT (piezoelectric transducer) (1), clamp structure
(2) constituted with driving foot (3)；Two shaft-like interlayer structure PZT (piezoelectric transducer)s (1) are arranged in juxtaposition, and centre is through arch girder construction (2)
Link into an integrated entity, be conformed with the middle part of domes, T-shaped frame is arranged symmetrically positioned at arch girder construction both sides with T-shaped frame (3).
Such as Fig. 1, it is made up of cylinder counterweight, two groups of piezoelectric exciting sources, driving foot and screw；The cylinder counterweight has two,
All it is hollow structure, one of them is provided with unthreaded hole along cylinder axis, another is provided with screwed hole, the counterweight provided with screwed hole has one
End is provided with annular protrusions, and the face of cylinder of two counterweights is provided with identical projection, and projection is provided with mounting hole；Two groups of pressures
Every group of electric shock vibration source is made up of 5 plate electrode pieces and 4 piezoelectric ceramics, and the polarised direction of potsherd is relative two-by-two, electrode slice difference
On two anchor rings of potsherd and the center of circle overlap；Driving foot is to have epitaxial structure on the outside of an annulus laminated structure, and annulus,
The construction profile is surrounded by two tangent lines for being symmetrical with diameter, and plane is cut into outer end, pair of the plane perpendicular to two tangent lines
Claim to be conformed with axle, plane；Screw sequentially passes through the counterweight provided with unthreaded hole, exciting source, driving foot and exciting source, and is tightened on
In counterweight provided with screwed hole, the projection on two counterweight faces of cylinder is arranged in juxtaposition and positioned at the relative of the sufficient epitaxial structure of driving
Side.
The energisation mode of composite oscillator standing-wave ultrasonic motor such as Fig. 2：Applied respectively on two groups of piezoelectric ceramics of PZT (piezoelectric transducer)
Plus Usin ω t, Ucos ω t two-phase voltage pumping signals.PZT (piezoelectric transducer) is under the excitation of two-phase voltage pumping signal, in driving foot
Elliptic vibrations occur for the projection at middle part.
PZT (piezoelectric transducer) is made up of counterweight, driving foot, screw, piezoelectric ceramics and electrode slice.Counterweight has two, respectively band
Through hole cylinder is integral through mode connects for screw, and screw passes through positioned at center through hole；Set through hole one is in described two counterweights
Screwed hole, another is unthreaded hole；The sufficient both sides of driving are adjacent with two groups of piezoelectric ceramics.Driving foot is laminated structure, its profile
For the external isosceles trapezoid of annulus, trapezoidal longer base is the diameter of annulus, and two waists are tangent with annulus respectively, in the middle part of shorter bottom
Provided with projection, the part is directly touched with institute drive member.Piezoelectric ceramics is ring-type, and its diameter is identical with counterweight outside diameter,
Internal diameter is identical with the through hole that counterweight is hit exactly.Electrode slice is soft conducting metal, has identical circular profile with piezoelectric ceramics, and
Projection is equipped with outside, for connecting energization lead.8 piezoelectric ceramics and 10 plate electrode pieces constitute 2 groups of identical exciting sources, often
Group exciting source is made up of 5 plate electrode pieces and 4 piezoelectric ceramics, and the polarised direction of potsherd is relative two-by-two, and electrode slice is located at respectively
On two anchor rings of the potsherd and center of circle is overlapped, such as Fig. 3.Two groups of exciting sources are located at the both sides of driving foot, and piezoelectric ceramics and electrode
Piece is combined into the central axis of exciting source and overlapped with the axis of through hole in counterweight, and two counterweights are located at outside two groups of exciting sources respectively
Through hole is overlapped with two groups of exciting source central axis on side, and counterweight, and screw extends through unthreaded hole in counterweight, in two groups of exciting sources
The upper unthreaded hole of heart driving foot is simultaneously screwed in the screwed hole in another counterweight.
Both sides and middle electricity in electrode slice difference connecting wire on such as Fig. 2, described group of two exciting sources, every group of exciting source
Pole piece applies identical voltage excitation signals through wired earth, remaining two panels electrode slice, and the voltage excitation signals are divided into Usin ω
T, Ucos ω t two-phases.
By Fig. 2 modes to two groups of piezoelectric units apply projection in the middle part of voltage drives, driving foot will with elliptic vibrations,
The projection is forced in another body surface with certain, unidirectional frictional force will be produced.
As shown in figure 4, the vibration by the described sufficient central protrusion of driving causes the rotor contacted (4) to rotate.
As shown in figure 5, the vibration by the described sufficient central protrusion of driving causes the mover contacted (5) translation.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of composite oscillator standing-wave ultrasonic motor, it is characterised in that：Including cylinder counterweight, two groups of piezoelectric exciting sources, driving foots
And screw；The cylinder counterweight has two, respectively first, second counterweight；And first, second counterweight be hollow structure；Institute
State the first counterweight and be provided with unthreaded hole along cylinder axis, and the second counterweight is provided with screwed hole along cylinder axis, and described first, second matches somebody with somebody
Clamp structure is provided with the face of cylinder of weight；Two groups of piezoelectric exciting sources are respectively first, second piezoelectric exciting source；The driving
Foot is to have epitaxial structure on the outside of an annulus laminated structure, and the annulus, and the epitaxial structure profile is by being symmetrical with two of diameter
Tangent line is surrounded, and plane is cut into outer end, the plane perpendicular to two tangent lines symmetry axis, and on this plane provided with second dash forward
Rise；Screw sequentially passes through the first counterweight, the first piezoelectric exciting source, drives sufficient, the second piezoelectric exciting source and by the second counterweight
Screwed hole screw；Every group of piezoelectric exciting source includes 5 plate electrode pieces and 4 piezoelectric ceramic pieces, electrode slice and the piezoelectricity pottery
Ceramics is arranged alternately, and the electrode slice is located on two anchor rings of the piezoelectric ceramic piece and center of circle and overlapped respectively, while the piezoelectricity
The polarised direction of potsherd is relative two-by-two.
2. composite oscillator standing-wave ultrasonic motor according to claim 1, it is characterised in that：The clamp structure be first,
The first projection set on the face of cylinder of second counterweight, and first projection is provided with mounting hole.
3. composite oscillator standing-wave ultrasonic motor according to claim 1, it is characterised in that：On the sufficient epitaxial structure end face of driving
The vibration of projection cause the rotor that contacts to rotate or mover translation.
4. a kind of motivational techniques of composite oscillator standing-wave ultrasonic motor as claimed in claim 1, it is characterised in that：First,
Apply A, B two-phase voltage pumping signal on second piezoelectric exciting source respectively, A, B two-phase voltage pumping signal is constant amplitude with frequency
Sine voltage signal, and two-phase voltage signal has the phase difference of pi/2.
5. the motivational techniques of composite oscillator standing-wave ultrasonic motor according to claim 4, it is characterised in that：First, second
Electrode slice difference connecting wire on piezoelectric exciting source, in every group of exciting source both sides and middle electrode slice through wired earth, its
Remaining two panels electrode slice applies identical voltage excitation signals, and the voltage excitation signals are divided into A, B two-phase.
6. the motivational techniques of composite oscillator standing-wave ultrasonic motor according to claim 4, it is characterised in that：First,
In the case of applying A, B two-phase voltage pumping signal on two piezoelectric exciting sources respectively, second on the sufficient epitaxial structure end face of driving
Elliptic vibrations occur for projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410762747.0A CN104485837B (en) | 2014-12-11 | 2014-12-11 | A kind of composite oscillator standing-wave ultrasonic motor and its motivational techniques |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410762747.0A CN104485837B (en) | 2014-12-11 | 2014-12-11 | A kind of composite oscillator standing-wave ultrasonic motor and its motivational techniques |
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| Publication Number | Publication Date |
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| CN104485837A CN104485837A (en) | 2015-04-01 |
| CN104485837B true CN104485837B (en) | 2017-09-15 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN106078807B (en) * | 2016-08-12 | 2020-11-24 | 珠海格力智能装备有限公司 | Weight bearing assembly and robot with same |
| 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 |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS63305773A (en) * | 1987-06-05 | 1988-12-13 | Alps Electric Co Ltd | Ultrasonic linear motor |
| CN101072000B (en) * | 2007-03-26 | 2010-07-14 | 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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Granted publication date: 20170915 Termination date: 20201211 |