CN106533250B - A kind of supersonic motor of multiple stators planar array structure - Google Patents
A kind of supersonic motor of multiple stators planar array structure Download PDFInfo
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- CN106533250B CN106533250B CN201611190051.0A CN201611190051A CN106533250B CN 106533250 B CN106533250 B CN 106533250B CN 201611190051 A CN201611190051 A CN 201611190051A CN 106533250 B CN106533250 B CN 106533250B
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- 239000000919 ceramic Substances 0.000 claims abstract description 173
- 230000010287 polarization Effects 0.000 claims description 76
- 238000000034 method Methods 0.000 claims description 25
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 238000003466 welding Methods 0.000 claims description 10
- 239000003292 glue Substances 0.000 claims description 9
- 230000033228 biological regulation Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 5
- 229910052573 porcelain Inorganic materials 0.000 claims description 5
- 238000005476 soldering Methods 0.000 claims description 5
- 239000006071 cream Substances 0.000 claims description 4
- 229910000679 solder Inorganic materials 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims 1
- 238000000576 coating method Methods 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 238000005266 casting Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 206010037660 Pyrexia Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003822 epoxy resin Substances 0.000 description 2
- 229920000647 polyepoxide Polymers 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
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- 230000005684 electric field Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
- H02N2/046—Mechanical transmission means, e.g. for stroke amplification for conversion into rotary motion
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
Abstract
The present invention provides a kind of supersonic motors of multiple stators planar array structure, it includes stator, rotor and output shaft, it further include stator plate, the stator plate is equipped at least two stators, the stator includes hollow track ring and piezoelectric ceramics module, the track ring is equipped with the pad of annular spread, and the piezoelectric ceramics module includes N number of piezo ceramic element, and the piezo ceramic element is weldingly fixed on the pad of track ring；The gap for stator ring vibration is equipped between the stator plate and track ring, the track ring is connect by connector with stator plate；Driving electrodes are additionally provided in stator plate, the electrode of the identical signal of piezo ceramic element is electrically connected with corresponding driving electrodes；The rotor is contacted with the surface of piezoelectric ceramics module, and stator driving rotor rotates to form power output.Technical scheme of the present invention is easily formed multiple motor array drivings, and motor operations life and reliability is more preferable, and efficiency utilization rate is high, and electromechanical conversion efficiency is high.
Description
Technical field
The invention belongs to technical field of motors more particularly to a kind of supersonic motors of multiple stators planar array structure.
Background technology
Supersonic motor is the inverse piezoelectric effect using piezoelectric ceramics, and excitation stator is vibrated in ultrasonic frequency domain, by stator,
Vibration is converted into a kind of non electromagnetic motor of the movement output driving load of rotor by the rubbing action between rotor.With electromagnetism
Motor is compared, have small, light-weight, compact-sized, response is fast, low noise, without electromagnetic interference, torque density is big, low speed
Large torque, the features such as can directly driving and advantage.Microrobot, automobile, aerospace, precision positioning have been applied to it at present
The multiple fields such as instrument, optical instrument, have broad application prospects.The rotary-type supersonic motor of traveling wave be current technology most at
It is ripe, using most a kind of supersonic motors, used piezo ceramic element is cirque structure, and is wanted according to certain
Carry out area polarizing is sought, in conjunction with piezo ceramic element manufacturing process and ultrasonic motor stator technological requirement, it is difficult to expeditiously make
The piezoelectric ceramic ring of large scale area polarizing is produced, this just constrains the structure adaptability of such motor, but also ultrasonic wave is electric
The application of machine is subject to certain restrictions.
Existing supersonic motor manufacturing process of stator is：The piezoelectric ceramic ring of area polarizing is adhered to epoxide-resin glue
Stator is formed on tooth-shape structure metallic matrix；There are following limitations for the ring-shaped traveling wave type ultrasonic wave motor constructed in this approach：
（1）Since ceramic ring is bonded in epoxide-resin glue on metallic matrix, one side stator high-frequency vibration is easy to cause
Glue-line season cracking, motor operations reliability and service life are relatively low, and another aspect glue-line can influence vibration in ceramic ring and becket
In transmission effect, motor operations efficiency is low.
（2）Its piezoelectric constant of the piezoceramic material of same performance and size d33>D31, using the piezoelectricity of loop configuration
Ceramics work in lateral vibration mode, i.e. direction of vibration is vertical with direction of an electric field, electromechanical using piezoelectric constant d31 rather than d33
Transfer efficiency is low.
（3）Rotor is moved by the transmission that rubs in stator unilateral side and power, constant wave vibration capacity usage ratio are relatively low.
（4）Existing supersonic motor structure type is single, is not easy to extend.
Invention content
For the above technical problem, the invention discloses a kind of supersonic motors of multiple stators planar array structure, are easy to
The multiple motor stators of welding manufacture in the same stator plate form multiple motor array drivings, meet specific occasion and apply need
It asks；It solves the problem of that existing supersonic motor structure type is single and is not easy to extension.
In this regard, the technical solution adopted by the present invention is：
A kind of supersonic motor of multiple stators planar array structure comprising stator, rotor and output shaft, the multiple stators
The supersonic motor of planar array structure includes stator plate, and the stator plate is equipped at least two stators, and the stator includes
Hollow track ring and piezoelectric ceramics module, the track ring are equipped with the pad of annular spread, the piezoelectric ceramics module packet
N number of piezo ceramic element is included, the piezo ceramic element is weldingly fixed on the pad of track ring, wherein the multiple that N is 8；Institute
The gap being equipped between track ring and stator plate for stator ring vibration is stated, the track ring is connect by connector with stator plate；
Driving electrodes, electrode and the corresponding driving electrodes electricity of the identical signal of the piezo ceramic element are additionally provided in the stator plate
Connection；The rotor is located on the piezoelectric ceramics module of the track ring and is contacted with the surface of piezoelectric ceramics module, described
Output shaft passes through the middle part of track ring to be connect with rotor, and the stator driving rotor rotates to form power output；The piezoelectricity pottery
The PZT electrode face of porcelain element is vertical with the anchor ring of track ring, forms extensional vibration.It, will pressure by welding using this technical solution
Electroceramics element is weldingly fixed on track ring, and the reliability of welding procedure is higher than adhesion process, can avoid existing ultrasonic wave
The glue-line caused by fever, vibrating fatigue cracks in motor work, improves the working life and reliability of supersonic motor.It will
The multiple motor stators of welding manufacture on a stator plate matrix form multiple motor array drivings, meet specific occasion application
Demand is easy to extend.
Wherein, the stator plate and track ring are preferably elastic matrix material.It is further preferred that the stator plate and fixed
Subring is made of pcb board.
It is improved as of the invention further, the stator plate, connector are equipped with printed circuit on track ring, described
Pad is electrically connected by printed circuit with driving electrodes.
It is further improved as of the invention, in each stator, the quantity of the connector is two or more.
Preferably, the connector is symmetrical centered on the axial line of track ring, and the width of the connector is 0.5
~3mm。
It is improved as of the invention further, the quantity of the connector is three, the width of the connector is 0.8 ~
1.5mm.It is further preferred that the width of the connector is 0.9 ~ 1.1mm.
As further improvement of the invention, the connector is support connects hinge.
As further improvement of the invention, the electrode surface of the piezo ceramic element is vertical with the anchor ring of track ring, shape
At extensional vibration.
For identical piezoceramic material, extensional vibration utilizes d33, and oscillation crosswise utilizes d31, and d33 ratios d31 is big
An order of magnitude or so, using this technical solution, PZT electrode face vertically forms extensional vibration with stator anchor ring, utilizes piezoresistive material
The d33 of material has higher electromechanical conversion efficiency.
Improved as of the invention further, the piezo ceramic element according to setting the corresponding polarization side of driving method
It to arrangement, is fixed on track ring, and is welded on the pad of track ring；Electrode between the piezo ceramic element passes through weldering
Soldering is connected together, and keeps the upper surface for the anchor ring being made of piezo ceramic element on the track ring smooth.
Preferably, the piezo ceramic element is fixed on by red glue on track ring.
Preferably, after piezo ceramic element welding, by polishing, by stator plate by piezo ceramic element and scolding tin
The anchor ring of composition polishes flat, and keeps the highly consistent of two face rings.Using this technical solution, connection is more reliable.,
It is improved as of the invention further, the quantity of the corresponding rotor of each track ring is two, the track ring
Two sides is equipped with pad, and the pad on two sides is welded with piezo ceramic element, and the obverse and reverse sides of the track ring are by piezoelectric ceramics
The anchor ring height of element composition is identical；Described two rotors are contacted with the two sides of track ring simultaneously, and the output shaft passes through stator
The middle part of ring is simultaneously connect with two rotors, forms power output.
Existing Traveling Ultrasonic Motor is using the structure of single rotor contact tooth form stator, this technical solution is using birotor folder
Hold stator structure, two rotors contact to form power output with the two sides of stator simultaneously, equivalent to increase rotor and stator it
Between contact area, birotor be clamped stator than single rotor contact stator contact area double, improve friction-driven ability,
Its efficiency utilization rate is higher.
As further improvement of the invention, stator plate and track ring are made of pcb board, are driven according to the driving of 4 phases or 2 phases
Dynamic method, connection circuit is arranged by the mode that identical signal electrode links together；Piezo ceramic element is according to driving method pair
Piezoelectric ceramics is fixed on red glue in stator plate by the polarization direction arrangement regulation answered with chip mounter, then in piezo ceramic element
Between electrode pad on coat tin cream, complete piezo ceramic element welding by reflow soldering process or solder wave process, later
By polishing, the anchor ring that stator plate two sides is made of piezo ceramic element and scolding tin is polished flat, and keeps the height of two face rings
Degree is consistent.The rotor plate for being pasted with planar spring is clamped into stator plate, output shaft passes through the hole of rotor plate central panel spring, separately
One end is fixed with nut；Adjusting nut position changes pretightning force size of two rotor plates to stator plate.
It is further improved as of the invention, arrangement regulation of the piezo ceramic element on the track ring on pad
For：Positive two piezo ceramic elements of track ring are one group, and two piezo ceramic elements of track ring reverse side are corresponding
One group, the positive position of polarization of track ring front piezo ceramic element corresponds to the pole of track ring reverse side piezo ceramic element
Change cathode position, the polarization cathode of the corresponding front piezo ceramic element of polarization anode of the track ring reverse side piezo ceramic element
The electrode of position, the corresponding piezo ceramic element of track ring obverse and reverse sides is electrically connected by circuit.
Wherein, the electrode of the corresponding piezo ceramic element of the track ring obverse and reverse sides passes through the metallization in stator plate
The circuit in hole connects.
As further improvement of the invention, piezo ceramic element and electrode on the track ring include that 4 groups of standing waves drive
Moving cell, respectively unit A, unit B, unit C and cells D, each unit include positive two piezoelectric ceramics of track ring
Two piezo ceramic elements of element and track ring reverse side, the piezo ceramic element is according to unit A, unit B, unit C, unit
D is arranged in order, and is circularly set on the positive and negative of track ring；
In the unit A and unit B, the polarization anode of positive two piezo ceramic elements of track ring is towards two
The polarization anode of the junction of a piezo ceramic element, two piezo ceramic elements of the track ring reverse side is located at two piezoelectricity
The outside of ceramic component；
In the unit C and cells D, the polarization cathode of positive two piezo ceramic elements of track ring is towards two
The polarization anode of positive two piezo ceramic elements in the junction of piezo ceramic element, i.e. track ring is located at two piezoelectric ceramics
The outside of element, the polarization anode of two piezo ceramic elements of the track ring reverse side is towards two piezo ceramic elements
Junction；
The driving electrodes include the ends SIN, the ends COS and the ends GND, and the positive polarization of track ring is being located in the unit A just
Pole is connect with the ends SIN, and the positive polarization anode of track ring is located in the unit B and is connect with the ends COS, is located in the unit C
The positive polarization cathode of track ring is connect with the ends SIN, and the positive polarization cathode of track ring is located in the cells D and is connected with the ends COS
It connects；The polarization anode for being located at positive, in separate unit C the piezo ceramic element of track ring in the cells D is connect with the ends GND.
Using above-mentioned technical proposal, piezo ceramic element and electrode are divided into 4 groups of standing wave drives unit A, B, C, D successively, according to
Secondary application SIN, COS ,-SIN ,-COS signals；PZT polarization anode poles PZT in pumping signal, C, D group in positive A, B group
Change cathode close to pumping signal；The PZT polarization directions of reverse side and front corresponding position are on the contrary, form two-phase-region casting.
As further improvement of the invention, piezo ceramic element and electrode on the track ring include that 4 groups of standing waves drive
Moving cell, respectively unit a, unit b, unit c and unit d, each unit include positive two piezoelectric ceramics of track ring
Two piezo ceramic elements of element and track ring reverse side, the piezo ceramic element is according to unit a, unit b, unit c, unit
D is arranged in order, and is circularly set on the positive and negative of track ring；
In the unit a, unit b, unit c, unit d, the polarization of positive two piezo ceramic elements of track ring
Anode is towards the junction of two piezo ceramic elements, the polarization anode of two piezo ceramic elements of the track ring reverse side
Positioned at the outside of two piezo ceramic elements, i.e., the polarization cathode of two piezo ceramic elements of the described track ring reverse side towards
The junction of two piezo ceramic elements；
The driving electrodes include the ends SIN, the ends COS and the ends GND, and the positive polarization of track ring is being located in the unit a just
Pole connect input SIN signals with the ends SIN, and the positive polarization anode of track ring is located in the unit b and connect input with the ends COS
COS signals, the positive polarization anode of track ring connect input-SIN signals with the ends SIN in the unit c, in the unit d calmly
The positive polarization anode of subring connect input-COS signals with the ends COS；It is positive and separate single to be located at track ring in the unit d
The polarization cathode of the piezo ceramic element of first c is connect with the ends GND.
Using this technical solution, piezo ceramic element and electrode are divided into 4 groups of standing wave drives unit a, b, c, d successively, wherein
A, two groups of application SIN signals of c, two groups of application COS signals excitations of b, d；PZT polarization anode is close to excitation in each group of track ring front
The PZT polarization directions of signal, reverse side and front corresponding position drive on the contrary, forming four phases.
As further improvement of the invention, the rotor includes rotor plate, and the middle part of the rotor plate is equipped with tablet bullet
Spring, the output shaft are fixed after the centre bore of planar spring by nut.
As further improvement of the invention, the stator is prepared using following steps：First by the piezo ceramic element
According to the corresponding polarization direction arrangement of driving method, chip mounter is used in combination to be fixed on piezo ceramic element in stator plate with red glue,
Then tin cream is coated on the electrode pad between piezo ceramic element, piezoelectricity is completed by reflow soldering process or solder wave process
Ceramic component welds；Then the anchor ring that stator plate two sides is made of piezo ceramic element and scolding tin is polished flat, and kept just
The anchor ring on anti-two sides it is highly consistent.Using this technical solution, method is simple, is easy to implement and control, consistency and stability
It is high.
As further improvement of the invention, the quantity of the stator is four, and the quantity of the rotor is eight, output
The quantity of axis is identical as stator quantity, is four, two rotors are clamped a stator and are exported by output shaft, in this way can be one
A be scheduled on plate carries out extending transversely being four supersonic motors, takes up an area smaller, easy to use.
Compared with prior art, beneficial effects of the present invention are：
First, technical scheme of the present invention is easy to the multiple motor stators of welding manufacture in the same stator plate, is formed more
A motor array driving, meets specific occasion application demand；It is single to solve existing supersonic motor structure type, is not easy to extend
The problem of.
Second, technical solution using the present invention, by several piezo ceramic elements according to drive signal matching relationship
Configuration is welded in using the method that patch welds on matrix, and welding procedure reliability is higher than adhesion process, avoids existing
The glue-line caused by fever, vibrating fatigue cracks in supersonic motor work, improves motor operations life and reliability.
Third, in the prior art, Traveling Ultrasonic Motor using single rotor contact tooth form stator structure, and the present invention
Stator structure is clamped using birotor in technical solution, and two rotors contact to form power output with the two sides of stator simultaneously, quite
In increasing the contact area between rotor and stator, friction-driven ability is improved, with higher efficiency utilization rate.
4th, piezo ceramic element is welded on pcb board by technical solution using the present invention, PZT electrode face and stator
Anchor ring vertically forms extensional vibration, using the d33 of piezoelectric material, has higher electromechanical conversion efficiency.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the supersonic motor of multiple stators planar array structure of the embodiment of the present invention 1.
Fig. 2 is that the single stator of the embodiment of the present invention 1 corresponds to the decomposition texture schematic diagram of two rotors.
Fig. 3 be the embodiment of the present invention 1 Fig. 2 in I part rotor plate structural schematic diagram.
Fig. 4 be the embodiment of the present invention 1 Fig. 2 in II partial stator plate structural schematic diagram.
Fig. 5 is the arrangement regulation figure of the two-phase-region casting piezoelectric ceramics of the embodiment of the present invention 1.
Fig. 6 is the four phases driving piezoelectric ceramics arrangement regulation figure of the embodiment of the present invention 2.
Fig. 7 is stator plate annular surface deformation rule figure of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings, the preferably embodiment of the present invention is described in further detail.
Embodiment 1
As shown in Fig. 1 ~ Fig. 4, a kind of supersonic motor of multiple stators planar array structure comprising stator 1,2 and of rotor
The supersonic motor of output shaft 3, the multiple stators planar array structure includes stator plate 10, and the stator plate 10 is equipped at least
Two stators 1, each stator correspond to two rotors 2；The stator 1 includes hollow track ring 12 and piezoelectric ceramics module, institute
The pad that track ring 12 is equipped with annular spread is stated, the piezoelectric ceramics module includes N number of piezo ceramic element 13, the piezoelectricity
Ceramic component 13 is weldingly fixed on the pad of track ring 12, wherein the multiple that N is 8；The track ring 12 and stator plate 10 it
Between be equipped with the gap 14 that vibrate for track ring 12, the track ring 12 is connect by support connects hinge 15 with stator plate 10；Institute
It states and is additionally provided with driving electrodes in stator plate 10, electrode and the corresponding driving electrodes of the identical signal of the piezo ceramic element 13
16 electrical connections；The rotor 2 is located on the piezoelectric ceramics module of the track ring 12 and is connect with the surface of piezoelectric ceramics module
It touches, the output shaft 3 passes through the middle part of track ring 12 to be connect with rotor 2, and it is defeated that the rotation of stator driving rotor 2 forms power
Go out；The PZT electrode face of the piezo ceramic element 13 is vertical with the anchor ring of track ring 12, forms extensional vibration.Preferably, described
It is three to support the quantity of connects hinge 15, and the support connects hinge 15 is symmetrically divided centered on the axial line of track ring 12
The width of cloth, the support connects hinge 15 is 0.8 ~ 1.5mm.Preferably, the support connects hinge 15 is three.
As shown in Fig. 1 ~ Fig. 4, the rotor 2 includes rotor plate 21, and the middle part of the rotor plate 21, which is pasted, is equipped with tablet bullet
The rotor plate 21 for being pasted with planar spring 22 is clamped stator plate 10 by spring 22, and output shaft 3 passes through the middle part of track ring 12, then wears
The Kong Houyong nuts 4 for crossing 22 middle part of central panel spring of rotor plate 21 are fixed；4 position of adjusting nut changes two rotor plates 21
To the pretightning force size of stator plate 10.
As shown in Fig. 1 ~ Fig. 4, the stator plate 10, support connects hinge 15, track ring 12 are made of pcb board, described
Stator plate 10, is equipped with printed circuit on track ring 12 at support connects hinge 15, and the printed circuit is connect with pad, described
Be additionally provided with driving electrodes 16 in stator plate 10, the electrode of the identical signal of the piezo ceramic element 13 by printed circuit with it is right
The driving electrodes 16 answered are electrically connected.The PZT electrode face of the piezo ceramic element 13 is vertical with the anchor ring of track ring 12, is formed vertical
To vibration.The piezo ceramic element 13 is arranged according to the corresponding polarization direction of driving method of setting, is fixed on by red glue 5
On track ring 12, and it is welded on the pad of track ring 12；Electrode between the piezo ceramic element 13 is welded by scolding tin
Together, and keep the upper surface for the anchor ring being made of piezo ceramic element 13 on the track ring 12 smooth.
As shown in Fig. 1 ~ Fig. 4, the quantity of 1 corresponding rotor 2 of each stator is two.In each stator 1, the track ring
12 two sides is equipped with pad, and piezo ceramic element 13 will with chip mounter according to the corresponding polarization direction arrangement regulation of driving method
Piezo ceramic element 13 is fixed on red glue 5 on track ring 12, is then applied on the electrode pad between piezo ceramic element 13
Tin cream is covered, the welding of piezo ceramic element 13 is completed by reflow soldering process or solder wave process, forms scolding tin electrode 17, later
By polishing, the anchor ring that 10 two sides of stator plate is made of piezo ceramic element 13 and scolding tin electrode 17 is polished flat, and is kept
The obverse and reverse sides of the track ring 12 are identical by the anchor ring height that piezo ceramic element 13 forms.Described two rotors 2 simultaneously with
The two sides of track ring 12 contacts, and the output shaft 3 passes through the middle part of track ring 12 and connect with two rotors 2, and it is defeated to form power
Go out.
As shown in figure 5, arrangement regulation of the piezo ceramic element 13 on pad is：The track ring 12 positive two
A piezo ceramic element 13 is one group, and two piezo ceramic elements 13 of 12 reverse side of track ring are corresponding one group, the stator
The polarization that positive 131 positions of polarization of 12 front piezo ceramic element 13 of ring correspond to 12 reverse side piezo ceramic element 13 of track ring is negative
The polarization anode 131 of 132 position of pole, 12 reverse side piezo ceramic element 13 of the track ring corresponds to front piezo ceramic element 13
It polarizes cathode 132 position, the electrode of the corresponding piezo ceramic element in 12 obverse and reverse sides position of track ring 13 passes through on track ring 12
Plated through-hole circuit be electrically connected.
As shown in figure 5, according to two-phase-region casting method, the mode that identical signal electrode links together is arranged into connection electricity
Road.Specifically, the piezo ceramic element 13 includes 4 groups of standing wave drive units, respectively unit A, unit B, unit C and list
First D, each unit include that two piezoelectricity of 12 positive two 12 reverse side of piezo ceramic element 13 and track ring of track ring are made pottery
Porcelain element 13, the piezo ceramic element 13 are arranged in order according to unit A, unit B, unit C, cells D, and are circularly set fixed
On the positive and negative of subring 12；
In unit A and unit B, the positive 131 equal courts of polarization of 12 positive two piezo ceramic elements 13 of the track ring
The junction of two piezo ceramic elements 13, i.e., polarization anode 131 is opposite, and polarization cathode 132 is separate；The track ring 12 is anti-
The polarization anode 131 of two piezo ceramic elements 13 in face is located at the outside of two piezo ceramic elements 13, that is, polarize cathode 132
Relatively, polarization anode 131 is separate；
In unit C and cells D, the 132 equal court of polarization cathode of 12 positive two piezo ceramic elements 13 of the track ring
The junction of two piezo ceramic elements 13, that is, the cathode 132 that polarizes is opposite, and polarization anode 131 is separate；The track ring 12 is anti-
The polarization anode 131 of two piezo ceramic elements 13 in face polarizes just towards the junction of two piezo ceramic elements 13
Pole 131 is opposite, and polarization cathode 132 is separate；
The driving electrodes 16 include the ends SIN, the ends COS and the ends GND, are located at 12 positive pole of track ring in the unit A
Change anode 131 to connect with the ends SIN, 12 positive polarization of track ring anode 131 is located in the unit B and is connect with the ends COS, it is described
It is connect with the ends SIN positioned at 12 positive polarization cathode 132 of track ring in unit C, it is positive that track ring 12 is located in the cells D
Polarization cathode 132 is connect with the ends COS；It is located at 12 front of track ring in the cells D, in the piezo ceramic element far from unit C
13 polarization anode 131 is connect with the ends GND.
Embodiment 2
On the basis of embodiment 1, this example and embodiment 1 are not all using four phase driving methods, on the track ring 12
Arrangement regulation and signal connection type of the piezo ceramic element 13 on pad are different from embodiment 1, specially：
As shown in fig. 6, the piezo ceramic element 13 and electrode include 4 groups of standing wave drive units, respectively unit a, list
First b, unit c and unit d, each unit include 12 positive two 12 reverse side of piezo ceramic element 13 and track ring of track ring
Two piezo ceramic elements 13, the piezo ceramic element 13 is arranged in order according to unit a, unit b, unit c, unit d, and
It is circularly set on the positive and negative of track ring 12；
In the unit a, unit b, unit c, unit d, 12 positive two piezo ceramic elements 13 of the track ring
Polarization anode 131 is towards the junction of two piezo ceramic elements 13, i.e. polarization anode 131 is opposite, and polarization cathode 132 is remote
From；The polarization cathode 132 of two piezo ceramic elements 13 of 12 reverse side of the track ring is towards two piezo ceramic elements 13
Junction, that is, polarizing, cathode 132 is opposite, and polarization anode 131 is separate；
The driving electrodes 16 include the ends SIN, the ends COS and the ends GND, are located at 12 positive pole of track ring in the unit a
Change anode 131 and connect input SIN signals with the ends SIN, is located at 12 131 and COS of positive polarization anode of track ring in the unit b
End connection inputs COS signals, and 12 positive polarization of track ring anode 131 connect input-SIN letters with the ends SIN in the unit c
Number, 12 positive polarization of track ring anode 131 connect input-COS signals with the ends COS in the unit d；Position in the unit d
The polarization cathode 132 of piezo ceramic element 13 positive in track ring 12 and far from unit c is connect with the ends GND.
Two kinds of driving methods of embodiment 1 and embodiment 2, i.e. two-phase-region casting and four phases drive, in single traveling wave wavelength,
According to the inverse piezoelectric effect of piezoceramic material, each piezo ceramic element 13 will be deformed, and make to be formed on track ring 12
Deformation rule as shown in Figure 7, wherein A, B in unit a, b, c, d difference corresponding diagram 7, C in the driving of 2 four phase of embodiment,
D；According to annular traveling wave ultrasonic motor operation principle, which can drive rotor 2 to rotate.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (8)
1. a kind of supersonic motor of multiple stators planar array structure comprising stator, rotor and output shaft, it is characterised in that：
The supersonic motor of the multiple stators planar array structure includes stator plate, and the stator plate is equipped at least two stators, institute
Track ring and piezoelectric ceramics module that stator includes hollow are stated, the track ring is equipped with the pad of annular spread, the piezoelectricity
Ceramic module includes N number of piezo ceramic element, and the piezo ceramic element is weldingly fixed on the pad of track ring, wherein N is
8 multiple；The gap for stator ring vibration is equipped between the track ring and stator plate, the track ring is by connector and determines
Daughter board connects；Be additionally provided with driving electrodes in the stator plate, the electrode of the identical signal of the piezo ceramic element with it is corresponding
Driving electrodes are electrically connected；The rotor be located on the piezoelectric ceramics module of the track ring and with the surface of piezoelectric ceramics module
Contact, the output shaft pass through the middle part of track ring to be connect with rotor, and the stator driving rotor rotates to form power output；Institute
The PZT electrode face for stating piezo ceramic element is vertical with the anchor ring of track ring, forms extensional vibration；The stator plate, is determined connector
Printed circuit is equipped in subring, the pad is electrically connected by printed circuit with driving electrodes；In each stator, the connection
The quantity of part is two or more, and the connector is symmetrical centered on the axial line of track ring, the width of the connector
For 0.5 ~ 3mm.
2. the supersonic motor of multiple stators planar array structure according to claim 1, it is characterised in that：The connector
Quantity be three, the width of the connector is 0.8 ~ 1.5mm.
3. the supersonic motor of the multiple stators planar array structure according to claim 1 ~ 2 any one, it is characterised in that：
The piezo ceramic element is arranged according to the corresponding polarization direction of driving method of setting, is fixed on track ring by red glue,
And it is welded on the pad of track ring；Electrode between the piezo ceramic element is welded together by scolding tin, and is made described
The upper surface for the anchor ring being made of piezo ceramic element on track ring is smooth.
4. the supersonic motor of multiple stators planar array structure according to claim 3, it is characterised in that：Each track ring
The quantity of corresponding rotor is two, and the two sides of the track ring is equipped with pad, and the pad on two sides is welded with piezoelectric ceramics
Element, the anchor ring height that the obverse and reverse sides of the track ring are made of piezo ceramic element are identical；Described two rotors respectively with
The upper and lower surface of track ring contacts, and the output shaft passes through the middle part of track ring and connect with two rotors, and it is defeated to form power
Go out；Arrangement regulation of the piezo ceramic element on pad be：Positive two piezo ceramic elements of track ring are one
Two piezo ceramic elements of group, track ring reverse side are corresponding one group, the pole of the positive piezo ceramic element of track ring
Change the polarization cathode position that positive position corresponds to track ring reverse side piezo ceramic element, the track ring reverse side piezo ceramic element
Polarization positive position corresponds to the polarization cathode position of front piezo ceramic element, the corresponding piezoelectricity of track ring obverse and reverse sides is made pottery
The electrode of porcelain element is electrically connected by circuit.
5. the supersonic motor of multiple stators planar array structure according to claim 4, it is characterised in that：The track ring
Upper piezo ceramic element and electrode include 4 groups of standing wave drive units, respectively unit A, unit B, unit C and cells D, Mei Gedan
Member includes two piezo ceramic elements of track ring positive two piezo ceramic elements and track ring reverse side, the piezoelectricity pottery
Porcelain element is arranged in order according to unit A, unit B, unit C, cells D, and is circularly set on the positive and negative of track ring；
In the unit A and unit B, the polarization anode of positive two piezo ceramic elements of track ring is pressed towards two
The polarization anode of the junction of electroceramics element, two piezo ceramic elements of the track ring reverse side is located at two piezoelectric ceramics
The outside of element；
In the unit C and cells D, the polarization cathode of positive two piezo ceramic elements of track ring is pressed towards two
The polarization anode of the junction of electroceramics element, two piezo ceramic elements of the track ring reverse side is made pottery towards two piezoelectricity
The junction of porcelain element；
The driving electrodes include the ends SIN, the ends COS and the ends GND, be located in the unit A the positive polarization anode of track ring and
The ends SIN connect, and the positive polarization anode of track ring is located in the unit B and is connect with the ends COS, stator is located in the unit C
The positive polarization cathode of ring is connect with the ends SIN, is connect with the ends COS positioned at the positive polarization cathode of track ring in the cells D；Institute
It states and is located at track ring front in cells D, is connect with the ends GND in the polarization anode of the piezo ceramic element far from unit C.
6. the supersonic motor of multiple stators planar array structure according to claim 4, it is characterised in that：The track ring
On piezo ceramic element and electrode include 4 groups of standing wave drive units, respectively unit a, unit b, unit c and unit d, each
Unit includes two piezo ceramic elements of track ring positive two piezo ceramic elements and track ring reverse side, the piezoelectricity
Ceramic component is arranged in order according to unit a, unit b, unit c, unit d, and is circularly set on the positive and negative of track ring；
In the unit a, unit b, unit c, unit d, the polarization anode of positive two piezo ceramic elements of track ring
Towards the junction of two piezo ceramic elements, the equal court of polarization cathode of two piezo ceramic elements of the track ring reverse side
The junction of two piezo ceramic elements；
The driving electrodes include the ends SIN, the ends COS and the ends GND, be located in the unit a the positive polarization anode of track ring and
The connection of the ends SIN inputs SIN signals, and the positive polarization anode of track ring is located in the unit b and connect input COS letters with the ends COS
Number, track ring positive polarization anode connect input-SIN signals with the ends SIN in the unit c, and track ring is being just in the unit d
The polarization anode in face connect input-COS signals with the ends COS；It is located at the pressure of the positive and separate unit c of track ring in the unit d
The polarization cathode of electroceramics element is connect with the ends GND.
7. the supersonic motor of multiple stators planar array structure according to claim 3, it is characterised in that：The rotor packet
Rotor plate is included, the middle part of the rotor plate is equipped with planar spring, and the output shaft passes through spiral shell after the centre bore of planar spring
Mother is fixed.
8. the supersonic motor of multiple stators planar array structure according to claim 7, it is characterised in that：The stator is adopted
It is prepared with following steps：The piezo ceramic element is arranged according to the corresponding polarization direction of driving method first, chip mounter is used in combination
Piezo ceramic element is fixed on red glue in stator plate, then tin coating on the electrode pad between piezo ceramic element
Cream completes piezo ceramic element welding by reflow soldering process or solder wave process；Then by stator plate two sides by piezoelectric ceramics
The anchor ring of element and scolding tin composition polishes flat, and the anchor ring of holding tow sides is highly consistent.
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| CN201611190051.0A CN106533250B (en) | 2016-12-21 | 2016-12-21 | A kind of supersonic motor of multiple stators planar array structure |
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| CN201611190051.0A CN106533250B (en) | 2016-12-21 | 2016-12-21 | A kind of supersonic motor of multiple stators planar array structure |
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| CN108306548B (en) * | 2018-04-11 | 2023-07-25 | 中国工程物理研究院电子工程研究所 | Driving structure of traveling wave micromotor |
| CN110601590B (en) * | 2019-11-05 | 2024-01-26 | 山东理工大学 | Patch type standing wave type double-sided tooth ultrasonic motor stator |
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| JP2004020333A (en) * | 2002-06-14 | 2004-01-22 | Osaka Gas Co Ltd | Ultrasonic flaw detecting apparatus |
| US7723900B2 (en) * | 2005-10-28 | 2010-05-25 | Pcb Motor Aps | Electro-mechanical wave device |
| WO2010061508A1 (en) * | 2008-11-25 | 2010-06-03 | 株式会社村田製作所 | Piezoelectric oscillator and ultrasonic motor |
| NO336140B1 (en) * | 2009-09-18 | 2015-05-26 | Sintef | Micro optical device actuator |
| KR20110062989A (en) * | 2009-12-04 | 2011-06-10 | 삼성전자주식회사 | Piezoelectric motor |
| CN206370784U (en) * | 2016-12-21 | 2017-08-01 | 深圳大学 | A kind of supersonic motor of multiple stators planar array structure |
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