CN108233765A - A kind of cascaded structure ultrasound electric machine - Google Patents
A kind of cascaded structure ultrasound electric machine Download PDFInfo
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- CN108233765A CN108233765A CN201810116729.3A CN201810116729A CN108233765A CN 108233765 A CN108233765 A CN 108233765A CN 201810116729 A CN201810116729 A CN 201810116729A CN 108233765 A CN108233765 A CN 108233765A
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- movable web
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 39
- 239000000919 ceramic Substances 0.000 claims description 37
- 229920001971 elastomer Polymers 0.000 claims description 22
- 238000002955 isolation Methods 0.000 claims description 19
- 239000002783 friction material Substances 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 7
- 239000004519 grease Substances 0.000 claims description 7
- 229920001296 polysiloxane Polymers 0.000 claims description 7
- 239000000741 silica gel Substances 0.000 claims description 7
- 229910002027 silica gel Inorganic materials 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000009191 jumping Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 23
- 238000005457 optimization Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 7
- 230000008520 organization Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229920001967 Metal rubber Polymers 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
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- 230000009977 dual 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/166—Motors with disc stator
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention relates to a kind of cascaded structure ultrasound electric machines, including housing, the output shaft through housing, the axis pin on housing, the drive end bearing bracket mounted on housing forward end, the rear end cap mounted on housing rear end and be arranged at rear end cap be used for end rotor apply precompression device for exerting, the movable web component that at least one setting coordinates inside housings and with body clearance is further included, the rotor assembly being equally set in movable web component side or both sides setting on output shaft；Movable web component includes stator module, is fixed by screws on movable web；The present invention is simpler than existing bimorph transducer single rotor, double-stator and double-rotor travelling wave supersonic motor technology, not only adjusts precompression conveniently, and multiple rotors that can also be connected by way of series connection realize high-power/big torque output；Torque volume ratio bigger simultaneously, extends application of the ultrasound electric machine in small space large-power occasions.
Description
Technical field
The present invention relates to a kind of cascaded structure ultrasound electric machines, belong to Ultrasonic Motor Techniques field.
Background technology
Travelling wave supersonic motor is earliest a kind of novel small and special electric machine originating from Japan, and operation principle is to utilize piezoelectricity
The inverse piezoelectric effect of potsherd, micro breadth oscillation of the excitation elastomeric stator in ultrasonic frequency domain, and pass through rubbing between rotor
Wiping acts on macroscopical rotary motion that micro breadth oscillation is converted into rotor, output power, driving load.
Travelling wave supersonic motor by the natural mode of vibration of piezoelectric ceramic piece and stator itself because being limited so that its maximum is defeated
Go out power, torque capacity, maximum speed to be restricted.For requiring electric machine structure size small but the occasion of output power,
Single rotor travelling wave supersonic motor can not be met the requirements, and therefore, the ultrasound electric machine of multiple rotors comes into being.Traveling wave surpasses at present
There are two types of more typical structure assembled schemes for acoustic-electric machine：
(1) bimorph transducer-single rotor travelling wave supersonic motor
Two stators have identical structure, are arranged symmetrically in the both sides of rotor, and two stators drive a rotor jointly, most
Pass through axis output torque afterwards.
Fig. 1 is document《A kind of rotary type ultraphonic motor》(corresponding patent of invention, publication number CN1909355A) is proposed
Electric machine structure scheme, two stators are by piezoelectric ceramic piece metal elastomer（Thin round platform）Bonding composition, more intermediate annular rotor are placed on
Outside stator, for rotor by disk spring, nut with being bolted, rotating nuts can apply axial precompression.According to stress
Analysis offsets each other it is known that precompression that the annular rotor in the structure is applied by both sides stator etc. is big reversed, will not
It occurs bending and deformation, and since the rigidity of both sides stator is larger, is also less likely to occur to deform, therefore the contact shape between rotor
State more they tends to rigid contact, is unfavorable for playing the vibration performance of stator, reduces the output torque and machine of motor to a certain extent
Tool efficiency.
Document《A new method of improving the torque of a travelling wave
ultrasonic motor》(Proceedings of the 1999 IEEE/ASME International Conference
On Advanced Intelligent Mechatronics September 19 are 23.1999 Atlanta, USA) it is carried
The electric machine structure gone out is similar with Fig. 1, the difference is that its flex rotor and axis one, while stator also uses flexible web structure,
And two stator be arranged symmetrically in the both sides of rotor, and by screw（Pin）It is fixed across disk spring and pedestal（Limitation stator exists
The degree of freedom of circumferential direction）, motor is by disk spring extruding stator, and stator, which occurs bending and deformation, to be pressed on rotor, so as to reach
To the purpose for applying precompression.The structure assembled scheme compares document《A kind of rotary type ultraphonic motor》The structure of proposition is one
Determine to improve the surface contact conditions between rotor in degree, but also bring the problem of another is fatal simultaneously：Both sides apply
Precompression it is inconsistent when, the big side of precompression can squeeze flex rotor toward other side, flex rotor be caused to deviate former
The position come, and then deteriorate rotor surface contact conditions, influence motor output performance.Simultaneously as the vibration side of the stator
Boundary's condition is more complicated, there are problems that mode of oscillation aliasing, increases motor in design, processing, making, debugging process
Difficulty, motor practicability are not fine.
(2) bimorph transducer-birotor travelling wave supersonic motor
In two groups of rotors of identical dimensional structure, a stator and a rotor form one group of driving source, another stator
Another group of driving source is formed with another rotor, two groups of driving sources pass through the axis output torque that is connect with two rotors.
Fig. 2 is Naofumi Fujie, Yasuo Kuwabara et al.（Patent of invention, publication number US4937488A) it is carried
One of three kinds of electric machine structure schematic diagrames gone out, two stators have identical structure, are each attached to an intermediate support plate
On, two rotors are pressed respectively against on the stator flank of tooth of both sides.The electric machine structure be using both sides motor cover squeeze thrust ball bearing,
Adjust pad, gasket and disk spring apply precompression, and precompression size can be adjusted by the thickness for changing adjust pad.It should
Second of the structure mentioned in patent squeezes thrust ball bearing, adjust pad, gasket and dish also with the motor cover of both sides
Spring applies precompression, the difference is that motor housing has screw thread, passes through electric rotating machine shell and adjusts precompression size.The patent
In the third structure for mentioning be using adjusting screw threaded in the motor cover of both sides squeeze thrust ball bearing, adjust pad,
Gasket and disk spring apply precompression, and precompression size is adjusted by rotating adjusting screw.The three kinds of knots mentioned in the patent
Substantially it is exactly to determine two single rotor motors although structure motor is all symmetrically to be fixed on stator on intermediate support plate
Sub- installation pedestal is spelled together, and the stator base of two single rotor motors is only merged into an intermediate support plate.
Although the motor of this structure has been effectively maintained the characteristic of single rotor motor, but its structure is still complex, needs point
The other rotor to both sides applies precompression, it is difficult to ensure that the consistency of the precompression size between the rotor of both sides, it still can shadow
Ring the output performance of motor entirety.
Document《The development of big torque traveling wave type ultrasonic motor》(Proceedings of the CSEE, in August, 2002, P67~P70)
In the electric machine structure mentioned actually with patent of invention（Publication number US4937488A) described in electric machine structure it is similar, it is different
Place be the motor housing for having lacked both sides and corresponding thrust ball bearing, simplify the structure of motor, while the fixed of motor turns
Minor structure and fixed form are different.The electric machine structure is also to apply precompression to the rotor of both sides respectively, deficiency
Place is just as described in the literature, and " since 2 oscillators are difficult to be made just the same, the pressure being added on 2 rotors is also impossible to completely
Identical, in addition with unfavorable factors such as drive frequency variations, therefore 2 oscillators turn it is practically impossible to export its maximum simultaneously
Square ", experimental result is " due to the fluctuation of service of double vibrator motors, model machine performance is unsatisfactory, and it is bent can not to measure its experiment
Line needs further to inquire into ".
Similar, document《Several critical issue researchs of traveling wave type ultrasonic motor》(Zhejiang University Ph.D. Dissertation,
, P107~P108 in 2006) in a kind of electric machine structure for mentioning there is also it is similary the problem of, as its " preferable feelings described in text
Under condition, under same drive condition, the output torque of the motor is twice of single stator single-rotor motor output torque, still
Due to mismachining tolerance, motor material and manufacture craft it is difficult to ensure that two motor performances are completely the same, particularly motor resonance
Frequency is extremely difficult to unanimously, therefore, the linear superposition that it is two motor torques that the motor output torque of actual fabrication, which is not,.Together
When, this electric machine structure is more complicated, increases processing and makes the difficulty of debugging ".
Fig. 3 is patent of invention（Publication number CN101702592A, CN101702592B) proposed in it is a kind of new double fixed
Rotor multidiameter structure plate-like travelling wave supersonic motor.Two groups of rotors are set to the external fixed structure of motor and interior by the program
Between portion's support construction, wherein, two rotors are fixed in the collar of output shaft, and two stators are separately fixed at the stator base of both sides
On.Adjust pad is equipped between rotor and collar stationary plane, precompression size is adjusted by the thickness for changing adjust pad.
The electric machine structure remains the plurality of advantages of existing single rotor ultrasound electric machine, and structure is relatively simple, and external loading is resisted
Interference performance makes moderate progress, but there is also many shortcomings：In the debugging process of motor, often change a precompression all
A rotor must be dismounted, increases motor debugging difficulty, equally, the consistency for the precompression size that both sides apply is difficult to protect
Card.According to its pertinent literature《The experimental study of two kinds of combinations of travelling-wave type rotary ultrasonic motor》（China Mechanical Engineering the 22nd
Roll up the 1st phase page 84 ~ 87）Experiment result, peak power output 10.2W, maximum locked-rotor torque are 1.8Nm, are single rotors
1.8 times or so of motor, the motor of this organization plan remain difficult to meet some relatively high powers and the occasion of torque.
Travelling wave supersonic motor is due to various by piezoelectric element, elastomer itself intrinsic frequency and frictional interface etc.
Factor limits, and single rotor travelling wave supersonic motor is difficult to accomplish big torque, high-power output；Therefore many scholars attempted singly
Stator is birotor, bimorph transducer is the schemes such as single rotor and double stators and double rotors, still, for its optimal situation, motor
Output torque namely original single rotor when 2 times；It might as well be with Japanese infant industry company（Shinsei
Corporation）USR60 ultrasound electric machines for, torque capacity 1Nm according to above-mentioned organization plan, is most managed by it
For situation about thinking, the output torque of motor is also with regard to 2Nm；Ultrasound electric machine in larger torque, the application of high-power aspect almost still
It is blank.
Invention content
The present invention provides a kind of cascaded structure ultrasound electric machine, than existing bimorph transducer-single rotor, bimorph transducer-birotor row
Wave Ultrasonic Motor Techniques are simpler, not only adjust precompression conveniently, and multiple rotors that can also be connected by way of series connection are real
Existing high-power/big torque output.Torque volume ratio bigger extends application of the ultrasound electric machine in small space large-power occasions.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of cascaded structure ultrasound electric machine, including housing, through the output shaft of housing, the axis pin on housing, be mounted on
The drive end bearing bracket of housing forward end, mounted on housing rear end rear end cap and be arranged at rear end cap be used for end rotor apply precompressed
The device for exerting of power further includes the movable web component that at least one setting coordinates inside housings and with body clearance, in work
Dynamic web component side or both sides setting are equally set in the rotor assembly on output shaft；
Aforementioned movable web component includes stator module, is fixed by screws on movable web；
Aforementioned stator module includes stator, piezoelectric ceramic piece and flexible printed circuit；
Aforementioned rotor assembly includes rotor, vibration isolation rubber and friction material；
As present invention further optimization, square hole is opened up among aforementioned rotor, is connected on output shaft by square hole, and
Adjacent rotor assembly is used and is installed in back-to-back fashion two-by-two, while the second gasket is set to be isolated between rotor assembly；
As present invention further optimization, the groove of semicircle shape is opened up on the circumferential cylindrical surface of movable web, is set on housing
It puts movable web component being limited in the axis pin moved along housing axial direction；
As present invention further optimization, square groove is opened up on the circumferential cylindrical surface of movable web, is set on corresponding housing
It puts movable web component being limited in the spline moved along housing axial direction；
As present invention further optimization, aforementioned stator module includes flexible printed circuit, piezoelectric ceramics and flexible printed circuit,
Its flexible printed circuit leading-out terminal is pierced by movable web and is pasted and fixed on the groove that outlet is used on movable web circumferential direction cylindrical surface
It is interior；Pcb board, flexible printed circuit is set to be drawn after being integrated by pcb board on rear end cap；
As present invention further optimization, aforementioned device for exerting includes rotatable precompression and adjusts part, the first gasket
With double dish self-locking gaskets, the bearing on rear end cap is mounted on precompression and adjusts on part, and the inner ring of bearing is pressed on the first gasket,
First gasket is pressed on double dish self-locking gaskets, and double dish self-locking gaskets are pressed on the rotor of end, applies precompression so as to reach
Purpose；
As present invention further optimization, aforementioned device for exerting includes round nut and double dish self-locking gaskets, in output shaft
End is arranged round nut, and setting and the matched screw thread of round nut on output shaft close to rear end cover, and round nut is pressed in double dish
On self-locking gasket, double dish self-locking gaskets are pressed on the rotor of end, rotate round nut, are reached application and are adjusted the mesh of precompression
's；Foregoing rotor component, stator module, movable web, output shaft, the second gasket, double dish self-locking gaskets and round nut form dynamic
Stator module；Bearing inner race end face on rear end cap is contacted with the shaft shoulder on output shaft, by control bearing inner race end face with it is defeated
Gap limitation output shaft the jumping in the axial direction of the shaft shoulder on shaft；
As present invention further optimization, the place of being engaged of aforementioned output shaft and rotor assembly sets quadrangle with circular arc
Square column structure coordinates with the square hole plane of rotor, and the foursquare arc of square column structure is with being mounted on rear end cap on output shaft
Bearing matches；
As present invention further optimization, the place of being engaged of aforementioned output shaft and rotor assembly sets quadrangle with circular arc
Square column structure coordinates with the square hole plane of rotor, the end setting of square column structure and the matched screw thread of round nut on output shaft；
Gap filling heat-conducting silicone grease or heat conductive silica gel between the circumferential direction and housing of movable web.
By above technical scheme, relative to the prior art, the invention has the advantages that：
It is formed present invention preserves the plurality of advantages of existing single rotor ultrasound electric machine, and by stator is independent with movable web
One independent component, the rotor component for the respective numbers that can be connected according to the demand of output torque, increases making for motor
Use flexibility；
The present invention only need to apply precompression to the rotor of end or movable web, can just complete to all stators and rotor application
Precompression, and the precompression size identical property between all stator and rotor is preferable, than existing single stator-birotor, double
Stator-birotor travelling wave supersonic motor technology is simpler；
The present invention theoretically can by way of series connection by the output torque of single rotor travelling wave supersonic motor improve 1 times, 2 times, 3
Again ..., n times（It is related with the group number of the rotor of series connection）, extend application of the ultrasound electric machine in the big torque occasion in small space.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is Zhang Tiemin entitled：A kind of rotary type ultraphonic motor, Publication No. CN1909355A are proposed
Electric machine structure scheme schematic diagram；
Wherein：1A is clamp nut, and 2A is butterfly spring, and 3A is upper collar plate shape piezoelectric ceramic piece, and 4A is upper thin round platform metal elastic
Property body, 5A be circular ring type rotor, 6A thin round platform metal elastomers under being, 7A be lower disc type piezoelectric ceramic piece, 8A for fastening spiral shell
Bolt；
Fig. 2 is Naofumi Fujie, Yasuo Kuwabara et al. the institute in the patent of invention of Publication No. US4937488A
It is proposed electric machine structure structure diagram；
Wherein：21 be housing, and 21a is shell, 21a1For flange auricle, 21b is inner housing, 21b1For flange auricle, 21c is shell
Body pedestal, 21c1It is output shaft for flange auricle, 22,23a is thrust ball bearing, and 23b is thrust ball bearing, and 23c is thrust ball
Bearing, 30a are the first stator module, and 31a is the first stator, and 32a is piezoelectric ceramic piece, and 30b is the first stator module, and 31b is
First stator, 32b are piezoelectric ceramic piece, and 40a is the first rotor, and 41a is annular friction piece, and 42a is rubber pad, and 43a is dish-like
Spring, 40b are the first rotor, and 41b is annular friction piece, and 42b is rubber pad, and 43b is disk spring, and 50a is outer gasket, 50b
For outer gasket；
Fig. 3 be Zhao Chunsheng, Yin Yucong, Yao Zhiyuan, Chen Chao and Lu Dan et al. Publication No. CN101702592A,
The travelling wave ultrasound motor with dual stator and rotor multi-diameter shaft structure schematic diagram proposed in the patent of invention of CN101702592B；
Wherein：54 be multi-diameter shaft, and 55 be lower thrust bearing, and 56 be lower stator base, and 57 be the first piezoelectric ceramic piece, and 58 be first
Vibrating body, 59 be the first rotor, and 60 be tubbiness shell, and 61 be the second rotor, and 62 be the second stator vibrating body, and 63 be upper stator base
Seat, 65 be upper thrust bearing；
Fig. 4 is the structure diagram of the first embodiment in a kind of cascaded structure ultrasound electric machine shown in the present invention；
Wherein：1 is drive end bearing bracket, and 2a is bearing, and 3 be output shaft, and 4a is rotor assembly, 4a1For vibration isolation rubber, 4a2For rotor, 4a3
For friction material, 4b is rotor assembly, 4b1For vibration isolation rubber, 4b2For rotor, 4b3For friction material, 4c is rotor assembly, 4c1
For vibration isolation rubber, 4c2For rotor, 4c3For friction material, 4d is rotor assembly, 4c1For vibration isolation rubber, 4c2For rotor, 4c3To rub
Wipe material, 5a is movable web component, 5a1For stator module, 5a11For stator, 5a12For piezoelectric ceramic piece, 5a13It is printed for flexibility
Making sheet, 5a2For movable web, 5a3For stator module, 5a31For stator, 5a32For piezoelectric ceramic piece, 5a33For flexible printed circuit, 5b
For movable web component, 5b1For stator module, 5b11For stator, 5b12For piezoelectric ceramic piece, 5b13For flexible printed circuit, 5b2For
Movable web, 5b3For stator module, 5b31For stator, 5b32For piezoelectric ceramic piece, 5b33It is connect for flexible printed circuit, 6 for outlet
Mouthful, 7 be pcb board, and 8 be rear end cap, and 9a is axis pin, and 9b is axis pin, and 9c is axis pin, and 9d is axis pin, and 10a is the first gasket, and 10b is
Second gasket, 11 adjust part for double dish self-locking gaskets, 12 for precompression, and 13 be housing；
Fig. 5 is the structural blast schematic diagram of the first embodiment in a kind of cascaded structure ultrasound electric machine shown in the present invention；
Fig. 6 is a kind of stator of cascaded structure ultrasound electric machine shown in the present invention and output shaft structure diagram, and wherein Fig. 6 a are
The structure diagram of output shaft of the present invention, Fig. 6 b are the structure diagrams of rotor of the present invention；
Fig. 7 is a kind of stator module of cascaded structure ultrasound electric machine shown in the present invention and movable web component structure diagram,
Wherein, Fig. 7 a are the movable web modular construction of the present invention and its schematic diagram of flexible printed circuit outlet, and Fig. 7 b are that the present invention is fixed
Son, piezoelectric ceramic piece, flexible printed circuit bond schematic diagram；
Fig. 8 is a kind of cascaded structure ultrasound electric machine complete machine outlet schematic diagram shown in the present invention；
Wherein：5a1For first group of stator module, 5a3For second group of stator module, 5b1For third group stator module, 5b3It is the 4th
Group stator module, 5a are movable web component, and 5b is movable web component；
Fig. 9 is the structure diagram of second of embodiment in a kind of cascaded structure ultrasound electric machine shown in the present invention；
Wherein：1 is drive end bearing bracket, and 2a is bearing, and 3 be output shaft, and 4a is rotor assembly, 4a1For vibration isolation rubber, 4a2For rotor, 4a3
For friction material, 4b is rotor assembly, 4b1For vibration isolation rubber, 4b2For rotor, 4b3For friction material, 4c is rotor assembly, 4c1
For vibration isolation rubber, 4c2For rotor, 4c3For friction material, 4d is rotor assembly, 4c1For vibration isolation rubber, 4c2For rotor, 4c3To rub
Wipe material, 5a is movable web component, 5a1For stator module, 5a11For stator, 5a12For piezoelectric ceramic piece, 5a13It is printed for flexibility
Making sheet, 5a2For movable web, 5a3For stator module, 5a31For stator, 5a32For piezoelectric ceramic piece, 5a33For flexible printed circuit, 5b
For movable web component, 5b1For stator module, 5b11For stator, 5b12For piezoelectric ceramic piece, 5b13For flexible printed circuit, 5b2For
Movable web, 5b3For stator module, 5b31For stator, 5b32For piezoelectric ceramic piece, 5b33It is connect for flexible printed circuit, 6 for outlet
Mouthful, 7 be pcb board, and 8 be rear end cap, and 9a is axis pin, and 9b is axis pin, and 9c is axis pin, and 9d is axis pin, and 10b is the second gasket, and 11 are
Double dish self-locking gaskets, 13 be housing, and 14 be round nut；
Figure 10 is all stator modules, rotor set in second of embodiment in a kind of cascaded structure ultrasound electric machine shown in the present invention
The dynamic stator module schematic diagram that part, movable web, output shaft, the second gasket, double dish self-locking gaskets, round nut form；
Figure 11 is a kind of structure diagram of cascaded structure ultrasound electric machine series connection odd number group shown in the present invention, wherein, Figure 11 a are
Activity web in end simplifies structure diagram when cascaded structure ultrasound electric machine series connection odd number group of the present invention moves stator（With 3 groups in figure
For dynamic stator structure）, Figure 11 b are complete machine schematic diagrames when cascaded structure ultrasound electric machine series connection odd number group of the present invention moves stator
（In figure by taking 3 groups are moved stator structure as an example）.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows composition related to the present invention.
As shown in figure 4, a kind of cascaded structure ultrasound electric machine, including housing, through the output shaft of housing, on housing
Axis pin, the drive end bearing bracket mounted on housing forward end, the rear end cap mounted on housing rear end and be arranged at rear end cap be used for end
Rotor is held to apply the device for exerting of precompression, further includes the activity that at least one setting coordinates inside housings and with body clearance
Web component, the rotor assembly being equally set in movable web component side or both sides setting on output shaft；
Aforementioned movable web component includes stator module, is fixed by screws on movable web；
Aforementioned stator module includes stator, piezoelectric ceramic piece and flexible printed circuit；
Aforementioned rotor assembly includes rotor, vibration isolation rubber and friction material；
As present invention further optimization, square hole is opened up among aforementioned rotor, is connected on output shaft by square hole, and
Adjacent rotor assembly is used and is installed in back-to-back fashion two-by-two, while the second gasket is set to be isolated between rotor assembly；
As present invention further optimization, the groove of semicircle shape is opened up on the circumferential cylindrical surface of movable web, is set on housing
It puts movable web component being limited in the axis pin moved along housing axial direction；
As present invention further optimization, the groove of the semicircle shape on the circumferential cylindrical surface of movable web can be square groove or
Other make a variation but the structure with phase same-action, set movable web component being limited in along shell on corresponding housing
The spline or other components with phase same-action of body axial direction movement；
As present invention further optimization, aforementioned stator module includes flexible printed circuit, piezoelectric ceramics and flexible printed circuit,
Its flexible printed circuit leading-out terminal is pierced by movable web and is pasted and fixed on the groove that outlet is used on movable web circumferential direction cylindrical surface
It is interior；Pcb board, flexible printed circuit is set to be drawn after being integrated by pcb board on rear end cap；
Shown in Fig. 4, as present invention further optimization, aforementioned device for exerting include rotatable precompression adjust part,
First gasket and double dish self-locking gaskets, the bearing on rear end cap are mounted on precompression and adjust on part, and the inner ring of bearing is pressed in the
On one gasket, the first gasket is pressed on double dish self-locking gaskets, and double dish self-locking gaskets are pressed on the rotor of end, is applied so as to reach
The purpose of precompression；
Shown in Fig. 9, as present invention further optimization, aforementioned device for exerting includes round nut and double dish self-locking gaskets,
The end of output shaft is arranged round nut, and setting and the matched screw thread of round nut on output shaft, round nut close to rear end cover
It is pressed on double dish self-locking gaskets, double dish self-locking gaskets are pressed on the rotor of end, rotate round nut, are reached application and are adjusted precompressed
The purpose of power；Foregoing rotor component, stator module, movable web, output shaft, the second gasket, double dish self-locking gaskets and round nut
Form dynamic stator module；Bearing inner race end face on rear end cap is contacted with the shaft shoulder on output shaft, by controlling bearing inner race end
Face and on output shaft the shaft shoulder gap limitation output shaft jumping in the axial direction；
Shown in Fig. 4, as present invention further optimization, the place of the being engaged setting quadrangle of aforementioned output shaft and rotor assembly
Square column structure with circular arc coordinates with the square hole plane of rotor, the foursquare arc of square column structure and after being mounted on output shaft
Bearing matching on end cap；
Shown in Fig. 9, as present invention further optimization, the place of the being engaged setting quadrangle of aforementioned output shaft and rotor assembly
Square column structure with circular arc coordinates with the square hole plane of rotor, the end setting of square column structure and round nut on output shaft
The screw thread matched；
Gap filling heat-conducting silicone grease or heat conductive silica gel between the circumferential direction and housing of movable web.
It is in the present invention, stator module is independent shown in Fig. 9, it is fixed by screws in form on movable web and live
Dynamic web component, the lead-out wire of the flexible printed circuit on stator module are pierced by and are pasted and fixed on by the through-hole in movable web
For in the groove of outlet on movable web circumferential direction cylindrical surface；Movable web has the groove similar to semicircle shape in the circumferential, leads to
The axis pin crossed on housing carries out limitation activity web component in week with the arc-shaped groove cooperation in movable web circumferential direction
To the degree of freedom in direction, but movable web component in the housing can be in axial direction free to slide；Here it illustrates,
The semicircle shape groove opened up on the circumferential cylindrical surface of movable web can be square groove or other variations but have phase same-action
Structure, movable web component for being limited in the spline or its that move along housing axial direction by setting on corresponding housing
He has the component of phase same-action.
In the present invention, as shown in Figure 6 a, output shaft is with being the square column structure with circular arc at rotor engagement；Such as Fig. 6 b institutes
Show, four planes and the stator square hole plane clearance of the square column of output shaft coordinate, and rotor can slide on output shaft；Four circles
Arc coordinates with the bearing clearance on rear end cap, and bearing can be slided by when responsive to axial force on output shaft.
In the present invention, all rotor assembly are gone here and there on axis in series by square hole, wherein adjacent turn two-by-two
Sub-component is taken to be installed in back-to-back fashion, and being used between rotor assembly, there is certain thickness second gasket to be isolated；Meanwhile it goes here and there
All rotors of connection remain the driving feature of existing single rotor travelling wave supersonic motor, since rotor in root is to pass through
What square hole and output shaft were connected, decontroled the degree of freedom of rotor hub in the axial direction, after rotor compressive deformation with phase
The stator vibrating body answered forms deformation matching, and this deformation matching makes rotor remain larger diameter in contact vibration
To contact area, so as to ensure that rotor preferably can output performance, and then ensure all rotor output torques possess compared with
Good Overlay.
In the present invention, the flexible printed circuit leading-out terminal on all stator modules can be pierced by movable web and paste fixation
For in the groove of outlet on movable web circumferential direction cylindrical surface；It is drawn after being integrated finally by the pcb board on rear end cap, PCB
Plate is connected with outlet interface, and the schematic diagram of movable web modular construction and its flexible printed circuit outlet is as shown in Figure 7a.It might as well determine
A half side left side for all piezoelectric ceramic pieces of justice is A phases, right half side for B phases, the bonding side of piezoelectric ceramic piece, flexible printed circuit and stator
Formula is as shown in Fig. 7 b schematic diagrames, it should be noted that the number of partitions of potsherd designs according to actual needs here, not only has
It is a kind of in figure, depending on the diameter of stator and the waveform quantity of stator.
In the present invention, shown in Fig. 8, the stator module of two back-to-back form installations on same web component
Outlet together after piezoelectric ceramic piece interconnection, i.e. first group of stator module A phase are connected with the B of second group of stator module, the
One group of stator module B phase is connected with the A of second group of stator module, and so on, finally it is merged into two-phase（Sin signals and cos
Signal）, the extremely independent outlet of orphan of piezoelectric ceramic piece；When two-phase signal phase difference is -90 °, the direction of rotation of motor can be changed；
If being extremely monitored it is specifically intended that orphan need to be used to potsherd, the lonely pole of all piezoelectric ceramic pieces needs independent outlet.
In the present invention, the bearing on first embodiment rear end cap is mounted on a threaded precompression of tool and adjusts part
On, by the rotor of bearing inner race extruding pad, double dish self-locking gaskets and end, complete precompression and apply；Movable web component,
Rotor assembly can slide in the axial direction, and it is all fixed that the precompression adjusting part on rotation rear end cap can adjust in real time
Precompression size between rotor.If ignore the influence of housing, housing upper pin and the frictional force on output shaft, either
Under static precompression or under dynamic precompression, the precompression between rotor can be adjusted adaptively, theoretically（Make
It is firmly big reversely with reaction force etc.）It can guarantee that the precompression between all stator modules and rotor assembly contact surface is consistent.
In the present invention, apply and double dish self-locking gaskets are increased in the linear system of precompression, motor operation course can be prevented
It is middle to change precompression state because vibration causes precompression to adjust loose-parts, it ensure that the output state of motor to a certain extent；
When motor is transferred to break-in is good under suitable precompression after, can also precompression adjust part screw thread at dispensing fixation prevent
It is loosened.
In the present invention, when the rotor group number connected on output shaft is even number（That is, 2 groups, 4 groups, 6 groups ...）When, end
It is rotor to hold the part contacted with double dish self-locking gaskets, and the precompression of application is pressed on rotor first；If it connects on output shaft
Rotor group number be odd number（That is, 1 group, 3 groups, 5 groups ...）When, then end is contacted with double dish self-locking gaskets part can be with
It is movable web, the precompression of application is pressed in first on movable web, as shown in Figure 11 b schematic diagrames, the movable abdomen of end at this time
Plate can be simplified to structure as shown in fig. 11a.
It is well known that ultrasound electric machine is in the process of running, rotor surface can generate a large amount of heat, heat because of friction
The high temperature generated after accumulation can influence the performance of motor, so must timely transfer heat away from.In the present invention, rotor
The heat of component is transmitted to front and rear cover yet by output shaft, and heat is dispersed by front and rear cover in external environment.Stator module
Heat housing is passed to by movable web, heat is dispersed into external environment by housing.
In the present invention, movable web is designed to there is certain thickness outside cylinder shape, and movable web and housing
With being combined into clearance fit, when installation, coats heat-conducting silicone grease or heat conductive silica gel on the external cylindrical surface of movable web；Outside cylinder first
Face can play the role of certain centering to all stator modules of series connection；Secondly external cylindrical surface increases heat dissipation area, borrow
Help heat-conducting silicone grease or heat conductive silica gel that can be distributed heat to quickly the heat transfer of stator module to housing by housing outer
Boundary ensure that the temperature of stator module will not be excessively high, and then ensure that the performance of entire motor.
In addition, in the present invention, can be connected according to reality output torque-demand it is 1 group therein, 2 groups, 3 groups ..., n groups
Rotor expands the use scope of motor, certainly, in practical application we it is not recommended that series connection rotor more than 8 groups.Because
Motor axial direction size ratio is larger at this time, and the servo motor of the same axial size upper reducer that can arrange in pairs or groups carries out deceleration increasing
Turn round meet demand；It is higher to the coherence request of rotor meanwhile because the rotor group number of series connection is relatively more, increase electricity
Machine debugging difficulty reduces the reliability of motor.
In the present invention, motor is installed by four holes on drive end bearing bracket ring flange with being fixed, it is therefore desirable to drive end bearing bracket
End face is vertical with output shaft.
The present invention cascaded structure ultrasound electric machine according to apply precompression mode difference can there are two types of structure arrange
Mode, it is specific as follows：
Embodiment 1：The first electric machine structure arrangement is as shown in figure 4, including following technical characteristic：1 is drive end bearing bracket, and 2a is axis
It holds, 3 be output shaft, and 4a is rotor assembly, 4a1For vibration isolation rubber, 4a2For rotor, 4a3For friction material, 4b is rotor assembly,
4b1For vibration isolation rubber, 4b2For rotor, 4b3For friction material, 4c is rotor assembly, 4c1For vibration isolation rubber, 4c2For rotor, 4c3
For friction material, 4d is rotor assembly, 4c1For vibration isolation rubber, 4c2For rotor, 4c3For friction material, 5a is movable web group
Part, 5a1For stator module, 5a11For stator, 5a12For piezoelectric ceramic piece, 5a13For flexible printed circuit, 5a2For movable web, 5a3
For stator module, 5a31For stator, 5a32For piezoelectric ceramic piece, 5a33For flexible printed circuit, 5b is movable web component, 5b1For
Stator module, 5b11For stator, 5b12For piezoelectric ceramic piece, 5b13For flexible printed circuit, 5b2For movable web, 5b3For stator pack
Part, 5b31For stator, 5b32For piezoelectric ceramic piece, 5b33It is outlet interface for flexible printed circuit, 6,7 be pcb board, and 8 be rear end cap,
9a is axis pin, and 9b is axis pin, and 9c is axis pin, and 9d is axis pin, and 10a is the first gasket, and 10b is the second gasket, and 11 be double dish self-lockings
Gasket, 12 adjust part for precompression, and 13 be housing；
Tool is there are one threaded precompression adjusting part on rear end cap, and bearing is mounted on precompression and adjusts on part, and bearing
Clearance fit is combined into matching for output shaft.Part extruding bearing is adjusted by rotating precompression, bearing slides axially along output shaft,
Bearing inner race extruding pad, gasket squeeze double dish self-locking gaskets, and the rotor of double dish self-locking gasket extrusion tips finally completes precompressed
Power applies；Under the structure, the bearing and end cap at both ends are by responsive to axial force；Because of matching for the bearing on rear end cap and output shaft
It is combined into clearance fit, it is ensured that bearing can be free to slide on output shaft, can there are problems that concentricity to a certain extent, cause
Output shaft shakes, therefore needs strictly to control the fit clearance of output shaft and rear end cap upper bearing (metal) under the organization plan.
Embodiment 2：Second of electric machine structure arrangement is as shown in figure 9, including following technical characteristic：1 is drive end bearing bracket, 2a
For bearing, 3 be output shaft, and 4a is rotor assembly, 4a1For vibration isolation rubber, 4a2For rotor, 4a3For friction material, 4b is rotor set
Part, 4b1For vibration isolation rubber, 4b2For rotor, 4b3For friction material, 4c is rotor assembly, 4c1For vibration isolation rubber, 4c2For rotor,
4c3For friction material, 4d is rotor assembly, 4c1For vibration isolation rubber, 4c2For rotor, 4c3For friction material, 5a is movable web
Component, 5a1For stator module, 5a11For stator, 5a12For piezoelectric ceramic piece, 5a13For flexible printed circuit, 5a2For movable web,
5a3For stator module, 5a31For stator, 5a32For piezoelectric ceramic piece, 5a33For flexible printed circuit, 5b is movable web component, 5b1
For stator module, 5b11For stator, 5b12For piezoelectric ceramic piece, 5b13For flexible printed circuit, 5b2For movable web, 5b3For stator
Component, 5b31For stator, 5b32For piezoelectric ceramic piece, 5b33It is outlet interface for flexible printed circuit, 6,7 be pcb board, and 8 be rear end
Lid, 9a are axis pin, and 9b is axis pin, and 9c is axis pin, and 9d is axis pin, and 10b is the second gasket, and 11 be double dish self-locking gaskets, and 13 be shell
Body, 14 be round nut；
In the organization plan, there is screw thread on output shaft, double dish self-locking gaskets, double dish are squeezed by the round nut on rotating output shaft
The rotor of self-locking gasket extrusion tip finally completes precompression application.As shown in Figure 10, stator pack all in the organization plan
Part, rotor assembly, movable web, output shaft, gasket, double dish self-locking gaskets, round nut can form a big component, here temporarily
And it is referred to as " dynamic stator module ".After precompression applies in place, entire " dynamic stator module " can be put into housing, then installed
The end cap at both ends completes last assembling.Since the bearing at both ends has been only that support and limitation output shaft are leapt up in the axial direction
Dynamic effect, the both ends shaft shoulder and bearing touch of output shaft（There are minim gaps）, therefore the two bearings in the organization plan and
Two end cap is not by responsive to axial force.Since the program cannot adjust precompression size in real time, need to readjust precompression
Shi Bixu removes rear end cap, therefore the organization plan needs to design " dynamic stator module " tooling of a set of debugging, " dynamic fixed
Last assembling is carried out after sub-component " debugging is intact.
Because the cascaded structure ultrasound electric machine of the present invention n groups that can connect move stator, the group number of series connection is more, generation in motor
Heat it is more, when motor internal temperature is excessively high, the output performance of motor can be seriously affected, therefore, it is necessary to quickly will be fixed
Heat on son sheds.For this purpose, the outside cylinder of the movable web in the present invention also plays heat dissipation and makees in addition to plaing a part of to be oriented to
With.Meanwhile because movable web external cylindrical surface with housing is clearance fit, during installation activity web component, in movable abdomen
The external cylindrical surface of plate is uniformly coated with one layer of heat-conducting silicone grease or heat conductive silica gel, by hot silicone grease or heat conductive silica gel by the heat on stator
Housing quickly is transmitted to, is finally dispersed into external environment.
For ensure motor startup stop fast response characteristic, the present invention in motor all stators on piezoelectric ceramics
Piece shares a frequency and the pumping signal that module is sent out occurs；Meanwhile for motor is made to run well, it is also necessary to ensure all to determine
The equidirectional movement of traveling wave that son generates, thus need to ensure two of piezoelectric ceramic piece on all stators be connected it is correct.
The length of cascaded structure ultrasound electric machine housing of the present invention is depending on series connection rotor group number situation.Especially set out
It is that, when the rotor group number of series connection is odd number, the movable web of end can be simplified to as shown in fig. 11a, the precompressed of application
Power can be firstly applied on movable web, as shown in Figure 11 b schematic diagrames.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific terminology）With the identical meaning of the general understanding with the those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
The meaning of "and/or" described herein refers to that the simultaneous situation of respective individualism or both is wrapped
Including including.
The meaning of " connection " described herein can be between component to be directly connected to can also pass through between component
Other components are indirectly connected with.
Using above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (9)
1. a kind of cascaded structure ultrasound electric machine, including housing, through the output shaft of housing, the axis pin on housing, installation
Drive end bearing bracket in housing forward end, mounted on housing rear end rear end cap and be arranged at rear end cap be used to apply end rotor it is pre-
The device for exerting of pressure, it is characterised in that：Further include the activity that at least one setting coordinates inside housings and with body clearance
Web component, the rotor assembly being equally set in movable web component side or both sides setting on output shaft；
Aforementioned movable web component includes stator module, is fixed by screws on movable web；
Aforementioned stator module includes stator, piezoelectric ceramic piece and flexible printed circuit；
Aforementioned rotor assembly includes rotor, vibration isolation rubber and friction material.
2. cascaded structure ultrasound electric machine according to claim 1, it is characterised in that：Square hole is opened up among aforementioned rotor,
It is connected on by square hole on output shaft, and rotor assembly adjacent two-by-two is used and installed in back-to-back fashion, while rotor set
The second gasket is set to be isolated between part.
3. cascaded structure ultrasound electric machine according to claim 2, it is characterised in that：On the circumferential cylindrical surface of movable web
The groove of semicircle shape is opened up, sets movable web component being limited in the axis pin moved along housing axial direction on housing.
4. cascaded structure ultrasound electric machine according to claim 2, it is characterised in that：It is opened on the circumferential cylindrical surface of movable web
It sets movable web component being limited in the spline moved along housing axial direction if square groove, on corresponding housing.
5. cascaded structure ultrasound electric machine according to claim 3 or 4, it is characterised in that：Aforementioned stator module includes soft
Property printed board, piezoelectric ceramics and flexible printed circuit, flexible printed circuit leading-out terminal are pierced by movable web and are pasted and fixed on activity
For in the groove of outlet on web circumferential direction cylindrical surface；Pcb board is set on rear end cap, and flexible printed circuit is integrated by pcb board
After draw.
6. cascaded structure ultrasound electric machine according to claim 5, it is characterised in that：Aforementioned device for exerting includes rotatable
Precompression adjust part, the first gasket and double dish self-locking gaskets, the bearing on rear end cap is mounted on precompression and adjusts on part,
The inner ring of bearing is pressed on the first gasket, and the first gasket is pressed on double dish self-locking gaskets, and double dish self-locking gaskets are pressed in turning for end
On son, so as to achieve the purpose that apply precompression.
7. cascaded structure ultrasound electric machine according to claim 5, it is characterised in that：Aforementioned device for exerting includes round nut
With double dish self-locking gaskets, round nut, and setting and round nut on output shaft are arranged close to rear end cover in the end of output shaft
Matched screw thread, round nut are pressed on double dish self-locking gaskets, and double dish self-locking gaskets are pressed on the rotor of end, rotate round nut,
Achieve the purpose that application and adjust precompression；It is foregoing rotor component, stator module, movable web, output shaft, the second gasket, double
Dish self-locking gasket and round nut form dynamic stator module；Bearing inner race end face on rear end cap is contacted with the shaft shoulder on output shaft,
By controlling bearing inner race end face and the gap of the shaft shoulder limits output shaft jumping in the axial direction on output shaft.
8. cascaded structure ultrasound electric machine according to claim 6, it is characterised in that：Aforementioned output shaft and rotor assembly
Be engaged place's setting square column structure of the quadrangle with circular arc, coordinates with the square hole plane of rotor, square column structure on output shaft
Foursquare arc is matched with the bearing on rear end cap.
9. cascaded structure ultrasound electric machine according to claim 7, it is characterised in that：Aforementioned output shaft and rotor assembly
Be engaged place's setting square column structure of the quadrangle with circular arc, coordinates with the square hole plane of rotor, square column structure on output shaft
End is set and the matched screw thread of round nut；
Gap filling heat-conducting silicone grease or heat conductive silica gel between the circumferential direction and housing of movable web.
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| CN108880322A (en) * | 2018-08-29 | 2018-11-23 | 南京航大超控科技有限公司 | A kind of rotary traveling wave ultrasonic motor using completely new precompression applying mode |
| CN109932430A (en) * | 2018-11-02 | 2019-06-25 | 国核电站运行服务技术有限公司 | Online ultrasound detection, which is inclined, puts adaptive concentricity adjustment mechanism and method of adjustment |
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| CN114696656A (en) * | 2022-05-31 | 2022-07-01 | 南京航达超控科技有限公司 | Four-stator-rotor serial ultrasonic motor |
| CN115580167A (en) * | 2022-11-23 | 2023-01-06 | 南京航达超控科技有限公司 | Ultrasonic motor with stator and rotor coaxially and infinitely connected in series |
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