CN108233765B - Series structure ultrasonic motor - Google Patents
Series structure ultrasonic motor Download PDFInfo
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- CN108233765B CN108233765B CN201810116729.3A CN201810116729A CN108233765B CN 108233765 B CN108233765 B CN 108233765B CN 201810116729 A CN201810116729 A CN 201810116729A CN 108233765 B CN108233765 B CN 108233765B
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- 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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Abstract
The invention relates to an ultrasonic motor with a series structure, which comprises a shell, an output shaft penetrating the shell, a pin shaft arranged on the shell, a front end cover arranged at the front end of the shell, a rear end cover arranged at the rear end of the shell, a pressing device arranged at the rear end cover and used for applying precompression to a terminal rotor, and at least one movable web component which is arranged in the shell and is in clearance fit with the shell, wherein one side or two sides of the movable web component are provided with rotor components which are also sleeved on the output shaft; the movable web plate component comprises a stator component which is fixed on the movable web plate through screws; compared with the existing double-stator-single-rotor and double-stator-double-rotor traveling wave ultrasonic motor technology, the invention is simpler, not only is the pre-pressure convenient to adjust, but also a plurality of stator and rotor can be connected in series in a serial manner to realize high-power/high-torque output; meanwhile, the torque volume ratio is larger, and the application of the ultrasonic motor in the occasion with small space and high power is expanded.
Description
Technical Field
The invention relates to an ultrasonic motor with a series structure, and belongs to the technical field of ultrasonic motors.
Background
The travelling wave ultrasonic motor is a novel micro-special motor, and the working principle of the travelling wave ultrasonic motor is that the micro-vibration of an elastomer stator in an ultrasonic frequency range is excited by using the inverse piezoelectric effect of a piezoelectric ceramic plate, and the micro-vibration is converted into macroscopic rotary motion of a rotor through the friction action between a stator and a rotor, so that the load is driven.
The traveling wave ultrasonic motor is limited by the inherent modes of the piezoelectric ceramic plate and the stator, so that the maximum output power, the maximum torque and the maximum speed of the traveling wave ultrasonic motor are limited. For the occasion that the motor structure size is small but the output power is large, the single stator-rotor traveling wave ultrasonic motor cannot meet the requirement, so that the ultrasonic motors with a plurality of stator rotors are generated. At present, two typical structural combination schemes exist for a traveling wave ultrasonic motor:
(1) Double stator-single rotor travelling wave ultrasonic motor
The two stators have identical structures and are symmetrically arranged on two sides of the rotor, the two stators jointly drive one rotor, and finally, torque is output through the shaft.
Fig. 1 is a motor structure scheme proposed in document "a rotary ultrasonic motor" (corresponding to patent publication No. CN 1909355A), wherein two stators are formed by bonding piezoelectric ceramic sheet metal elastomer (Bao Yuantai), a middle annular rotor is sleeved outside the stators, the stators and the rotors are connected with bolts by disc springs, nuts, and axial precompression can be applied by rotating the nuts. According to stress analysis, the annular rotor in the structure is greatly reversed by the pre-pressure applied by the stators at the two sides, and the pre-pressure is offset, so that bending deformation cannot occur, and the stators at the two sides are not easy to deform due to the fact that the rigidity of the stators at the two sides is high, so that the contact state between the stators and the rotors tends to be in rigid contact, the vibration performance of the stators is not exerted, and the output torque and the mechanical efficiency of the motor are reduced to a certain extent.
The motor proposed in document Anew method of improving the torque of a travelling wave ultrasonic motor (Proceedings of the 1999IEEE/ASME International Conference on Advanced Intelligent Mechatronics September 19 is 23.399 Atlanta, USA) is similar to that of FIG. 1, except that the flexible rotor is integral with the shaft, the stator is also in flexible web structure, and the two stators are symmetrically arranged on both sides of the rotor and are fixed with the base by screws (pins) through belleville springs (limiting the freedom of the stator in circumferential direction), the motor presses the stator through the belleville springs, and the stator is bent and deformed to press against the rotor, thereby achieving the purpose of applying pre-compression. Compared with the structure proposed in the document 'a rotary ultrasonic motor', the structure combination scheme improves the surface contact state between the stator and the rotor to a certain extent, but brings about another fatal problem: when the precompression applied to two sides is inconsistent, the side with large precompression can extrude the flexible rotor to the other side, so that the flexible rotor deviates from the original position, and further the surface contact state of the stator and the rotor is deteriorated, and the output performance of the motor is influenced. Meanwhile, as the vibration boundary condition of the stator is complex, the problem of aliasing of vibration modes exists, the difficulty of the motor in the processes of design, processing, manufacturing and debugging is increased, and the practicability of the motor is not very good.
(2) Double-stator-double-rotor travelling wave ultrasonic motor
In two sets of stator and rotor of the same size structure, one stator and one rotor constitute one set of drive source, the other stator and the other rotor constitute the other set of drive source, and the two sets of drive sources output torque through a shaft connected with the two rotors.
Fig. 2 is one of three motor structures proposed by Naofumi Fujie, yasuo Kuwabara et al (patent publication No. US 4937488A), wherein two stators have identical structures and are fixed on a middle support plate, and two rotors are respectively pressed on stator tooth surfaces at two sides. The motor structure utilizes motor covers on two sides to extrude the thrust ball bearing, the adjusting gasket, the gasket and the belleville spring to apply precompression, and the precompression can be adjusted by changing the thickness of the adjusting gasket. The second structure mentioned in this patent also applies a pre-compression force by pressing the thrust ball bearing, the adjusting washer, the washer and the belleville spring with the motor cover on both sides, except that the motor housing has a screw thread, and the magnitude of the pre-compression force is adjusted by rotating the motor housing. The third structure mentioned in the patent is to press the thrust ball bearing, the adjusting washer, the washer and the belleville spring to apply the pre-compression by using the adjusting screw with threads on the motor covers at both sides, and adjust the magnitude of the pre-compression by rotating the adjusting screw. The three structural motors mentioned in the patent are all characterized in that stators are symmetrically fixed on an intermediate support plate, but basically, stator mounting bases of two single-stator-rotor motors are spliced together, and only the stator bases of the two single-stator-rotor motors are combined into one intermediate support plate. The motor with the structure well maintains the characteristics of a motor with a single stator and a single rotor, but the structure is still complex, the precompression needs to be applied to the stator and the rotor at two sides respectively, the consistency of the precompression between the stator and the rotor at two sides is difficult to ensure, and the integral output performance of the motor can be influenced.
The motor structure mentioned in the literature (Chinese motor engineering journal, 8 th 2002, P67-P70) is similar to the motor structure described in the invention patent (publication No. US 4937488A), except that motor shells and corresponding thrust ball bearings on two sides are omitted, the motor structure is simplified, and the stator-rotor structure and the fixing mode of the motor are different. The motor structure also applies precompression to the stator and the rotor at two sides respectively, and the disadvantage is that the pressures applied to the 2 rotors are not identical as the 2 vibrators are difficult to be made completely as described in the literature, and in addition, the driving frequency change and other adverse factors are also not possible to simultaneously output the maximum torque of the 2 vibrators, and the experimental result is that the model machine performance is not ideal due to unstable operation of the double vibrator motor, the experimental curve cannot be measured, and the further study is still needed.
Similarly, there are also similar problems with a motor structure as mentioned in the document "study of several key problems of travelling wave type ultrasonic motors" (doctor's article of Zhejiang university, 2006, P107 to P108), just as it is described herein that under the same driving conditions, the output torque of the motor is twice that of a single stator single rotor motor, but because of processing errors, motor materials and manufacturing process, it is difficult to ensure that the two motor performances are completely consistent, particularly, the motor resonant frequency is difficult to achieve consistent, so that the actually manufactured motor output torque is not a linear superposition of the two motor torques. Meanwhile, the motor is complex in structure, and the difficulty of processing, manufacturing and debugging is increased.
Fig. 3 is a novel disc-shaped traveling wave ultrasonic motor with a double stator-rotor stepped shaft structure, which is proposed in the patent of the invention (publication number CN101702592A, CN 101702592B). According to the scheme, two groups of stator and rotor are arranged between an external fixing structure and an internal supporting structure of the motor, wherein the two rotors are fixed on a shaft collar of an output shaft, and the two stators are respectively fixed on stator bases on two sides. An adjusting gasket is arranged between the rotor and the shaft collar fixing surface, and the pre-pressure is adjusted by changing the thickness of the adjusting gasket. The motor structure reserves a plurality of advantages of the existing single stator-rotor ultrasonic motor, has simpler structure, improves the anti-interference capability to external load, but has a plurality of defects: in the debugging process of the motor, the stator and the rotor are required to be disassembled once when the precompression is changed once, so that the motor debugging difficulty is increased, and the consistency of the precompression applied to the two sides is difficult to ensure. According to experimental results of a prototype of a related document of experimental study of two combination modes of a traveling wave type rotary ultrasonic motor (22 nd page 1 of Chinese mechanical engineering), the maximum output power is 10.2W, the maximum locked rotor torque is 1.8Nm, and is about 1.8 times that of a single stator-rotor motor, and the motor with the structural scheme still has difficulty in meeting occasions with larger power and torque.
The traveling wave ultrasonic motor is limited by various factors such as a piezoelectric element, the natural frequency of an elastomer, a friction interface and the like, so that the single stator-rotor traveling wave ultrasonic motor is difficult to realize high torque and high power output; therefore, many scholars try to adopt the schemes of single stator as double rotor, double stator as single rotor, double stator as double rotor and the like, but according to the optimal condition, the output torque of the motor is 2 times that of the original single stator; taking the USR60 ultrasonic motor of the japanese new born industrial company (Shinsei Corporation) as an example, the maximum torque is 1Nm, and if the above-mentioned structural scheme is adopted, the output torque of the motor is 2Nm as the most ideal case; the application of the ultrasonic motor in the aspects of larger torque and large power is almost blank.
Disclosure of Invention
Compared with the existing double-stator-single-rotor and double-stator-double-rotor traveling wave ultrasonic motor technology, the ultrasonic motor with the series structure is simpler, not only is the pre-pressure convenient to adjust, but also a plurality of stators and rotors can be connected in series to realize high-power/high-torque output. The torque volume ratio is larger, and the application of the ultrasonic motor in the occasion with small space and high power is expanded.
The technical scheme adopted for solving the technical problems is as follows:
the ultrasonic motor with the series structure comprises a shell, an output shaft penetrating through the shell, a pin shaft arranged on the shell, a front end cover arranged at the front end of the shell, a rear end cover arranged at the rear end of the shell, a pressing device arranged at the rear end cover and used for applying pre-pressing force to a terminal rotor, at least one movable web component arranged in the shell and in clearance fit with the shell, and rotor components sleeved on the output shaft at one side or two sides of the movable web component;
the movable web plate component comprises a stator component which is fixed on the movable web plate through screws;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board;
the rotor assembly comprises a rotor, vibration damping rubber and friction materials;
as a further preferable mode of the invention, the middle of the rotor is provided with square holes which are connected in series on the output shaft through the square holes, every two adjacent rotor components are installed in a back-to-back mode, and meanwhile, a second gasket is arranged between the rotor components for isolation;
as a further preferable mode of the invention, a semicircular groove is formed on the circumferential cylindrical surface of the movable web plate, and a pin shaft for limiting the movable web plate assembly to move along the axial direction of the shell is arranged on the shell;
as a further preferable mode of the invention, a square groove is formed on the circumferential cylindrical surface of the movable web plate, and a key bar for limiting the movable web plate assembly to move along the axial direction of the shell is arranged on the corresponding shell;
as a further preferred aspect of the present invention, the stator assembly includes a stator, a piezoelectric ceramic, and a flexible printed board, wherein an outlet end of the flexible printed board penetrates through the movable web and is fixed in a groove for outlet on a circumferential cylindrical surface of the movable web; a PCB is arranged on the rear end cover, and the flexible printed board is led out after being integrated through the PCB;
as a further preferred aspect of the present invention, the aforementioned pressing device includes a rotatable pre-pressure adjusting part, a first washer, and a double-disc self-locking washer, the bearing on the rear end cover is mounted on the pre-pressure adjusting part, the inner ring of the bearing presses on the first washer, the first washer presses on the double-disc self-locking washer, and the double-disc self-locking washer presses on the rotor at the end, thereby achieving the purpose of applying pre-pressure;
as a further preferred aspect of the present invention, the pressing device includes a round nut and a double-disc self-locking washer, wherein the round nut is sleeved on the end of the output shaft near the rear end cover, threads matched with the round nut are provided on the output shaft, the round nut is pressed on the double-disc self-locking washer, the double-disc self-locking washer is pressed on the rotor at the end, and the round nut is rotated to achieve the purpose of applying and adjusting the pre-pressing force; the rotor assembly, the stator assembly, the movable web, the output shaft, the second gasket, the double-disc self-locking gasket and the round nut form a movable stator assembly; the end face of the bearing inner ring on the rear end cover is contacted with a shaft shoulder on the output shaft, and the leaping of the output shaft in the axial direction is limited by controlling the gap between the end face of the bearing inner ring and the shaft shoulder on the output shaft;
as a further preferable mode of the invention, the contact matching position of the output shaft and the rotor assembly is provided with a square column structure with four corners provided with circular arcs, the square column structure is matched with the square hole plane of the rotor, and the four corners of the square column structure above the output shaft are matched with the bearing arranged on the rear end cover;
as a further preferable mode of the invention, the contact matching position of the output shaft and the rotor assembly is provided with a square column structure with four corners provided with circular arcs, the square column structure is matched with the square hole plane of the rotor, and the tail end of the square column structure above the output shaft is provided with threads matched with a round nut;
gaps between the circumferences of the movable webs and the shell are filled with heat-conducting silicone grease or heat-conducting silica gel.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
the invention maintains a plurality of advantages of the existing single stator-rotor ultrasonic motor, and the stator is independent and forms an independent component with the movable web, so that a corresponding number of stator-rotor components can be connected in series according to the requirement of output torque, and the use flexibility of the motor is improved;
the invention can apply precompression to all stators and rotors only by applying precompression to the rotor or the movable web at the tail end, and the precompression between all stators and rotors has better consistency, which is simpler than the existing single-stator-double-rotor and double-stator-double-rotor travelling wave ultrasonic motor technology;
the invention can theoretically improve the output torque of the single stator-rotor traveling wave ultrasonic motor by 1 time, 2 times, 3 times, … … and n times (related to the number of stator-rotor groups in series) in a series connection mode, and expands the application of the ultrasonic motor in occasions with small space and large torque.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a diagram of Zhang Tiemin under the name: a rotary ultrasonic motor, the schematic diagram of the motor structure proposal is proposed by the publication No. CN 1909355A;
wherein: 1A is a fastening nut, 2A is a belleville spring, 3A is an upper disc type piezoelectric ceramic piece, 4A is an upper thin circular truncated cone metal elastomer, 5A is a circular ring type rotor, 6A is a lower thin circular truncated cone metal elastomer, 7A is a lower disc type piezoelectric ceramic piece, and 8A is a fastening bolt;
fig. 2 is a schematic structural diagram of a motor proposed by Naofumi Fujie, yasuo Kuwabara et al in the invention patent publication No. US 4937488A;
wherein: 21 is a shell, 21a is a housing, 21a 1 Is a flange lug, 21b is an inner shell, 21b 1 Is a flange lug, 21c is a shell base, 21c 1 The flange lug 22 is an output shaft, 23a is a thrust ball bearing, 23b is a thrust ball bearing, 23c is a thrust ball bearing, 30a is a first stator component, 31a is a first stator, 32a is a piezoelectric ceramic plate, 30b is a first stator component, 31b is a first stator, 32b is a piezoelectric ceramic plate, 40a is a first rotor, 41a is an annular friction plate, 42a is a rubber pad, 43a is a disc spring, 40b is a first rotor, 41b is an annular friction plate, 42b is a rubber pad, 43b is a disc spring, 50a is an outer gasket, and 50b is an outer gasket;
fig. 3 is a schematic diagram of a disc-shaped travelling wave ultrasonic motor with a double stator-rotor stepped shaft structure, which is proposed by Zhao Chunsheng, yin Yocong, yao Zhiyuan, chen Chao and reed switch et al in the invention patent with publication number CN101702592A, CN 101702592B;
wherein: 54 is a stepped shaft, 55 is a lower thrust bearing, 56 is a lower stator base, 57 is a first piezoelectric ceramic plate, 58 is a first vibrator, 59 is a first rotor, 60 is a barrel-shaped housing, 61 is a second rotor, 62 is a second stator vibrator, 63 is an upper stator base, 65 is an upper thrust bearing;
FIG. 4 is a schematic diagram of a first embodiment of a tandem structure ultrasonic motor according to the present invention;
wherein: 1 is a front end cover, 2a is a bearing, 3 is an output shaft, 4a is a rotor component, 4a 1 Is vibration damping rubber, 4a 2 Is rotor, 4a 3 Is a friction material, 4b is a rotor assembly, 4b 1 Is vibration damping rubber, 4b 2 Is rotor, 4b 3 Is a friction material, 4c is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 4d is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 5a is a movable web component, 5a 1 5a is a stator assembly 11 Is stator, 5a 12 Is a piezoelectric ceramic piece 5a 13 Is a flexible printed board 5a 2 Is a movable web, 5a 3 5a is a stator assembly 31 Is stator, 5a 32 Is a piezoelectric ceramic piece 5a 33 Is a flexible printed board, 5b is a movable web component, 5b 1 5b are stator assemblies 11 Is stator, 5b 12 Is a piezoelectric ceramic piece, 5b 13 Is a flexible printed board, 5b 2 Is a movable web, 5b 3 5b are stator assemblies 31 Is stator, 5b 32 Is a piezoelectric ceramic piece, 5b 33 The flexible printed board is characterized in that the flexible printed board is provided with a wire outlet port 6, a PCB 7, a rear end cover 8, a pin shaft 9a, a pin shaft 9b, a pin shaft 9c, a pin shaft 9d, a first gasket 10a, a second gasket 10b, a double-disc self-locking gasket 11, a pre-pressure adjusting part 12 and a shell 13;
FIG. 5 is a schematic diagram of an exploded view of a first embodiment of a tandem structure ultrasonic motor according to the present invention;
fig. 6 is a schematic structural view of a stator and an output shaft of an ultrasonic motor with a series structure, wherein fig. 6a is a schematic structural view of the output shaft of the invention, and fig. 6b is a schematic structural view of a rotor of the invention;
fig. 7 is a schematic structural diagram of a stator assembly and a movable web assembly of an ultrasonic motor with a series structure, wherein fig. 7a is a schematic structural diagram of the movable web assembly and a flexible printed board outgoing line thereof, and fig. 7b is a schematic structural diagram of bonding of a stator, a piezoelectric ceramic sheet and a flexible printed board;
FIG. 8 is a schematic diagram of the complete machine outlet of an ultrasonic motor with a series structure according to the present invention;
wherein: 5a 1 5a for a first group of stator assemblies 3 5b for a second group of stator assemblies 1 5b for a third group of stator assemblies 3 A fourth group of stator components, 5a being a movable web component and 5b being a movable web component;
FIG. 9 is a schematic diagram of a second embodiment of a tandem structure ultrasonic motor according to the present invention;
wherein: 1 is a front end cover, 2a is a bearing, 3 is an output shaft, 4a is a rotor component, 4a 1 Is vibration damping rubber, 4a 2 Is rotor, 4a 3 Is a friction material, 4b is a rotor assembly, 4b 1 Is vibration damping rubber, 4b 2 Is rotor, 4b 3 Is a friction material, 4c is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 4d is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 5a is a movable web component, 5a 1 5a is a stator assembly 11 Is stator, 5a 12 Is a piezoelectric ceramic piece 5a 13 Is a flexible printed board 5a 2 Is a movable web, 5a 3 5a is a stator assembly 31 Is stator, 5a 32 Is a piezoelectric ceramic piece 5a 33 Is a flexible printed board, 5b is a movable web component, 5b 1 5b are stator assemblies 11 Is stator, 5b 12 Is a piezoelectric ceramic piece, 5b 13 Is a flexible printed board, 5b 2 Is a movable web, 5b 3 5b are stator assemblies 31 Is stator, 5b 32 Is a piezoelectric ceramic piece, 5b 33 The flexible printed board is characterized in that the flexible printed board is provided with a wire outlet port 6, a PCB 7, a rear end cover 8, a pin shaft 9a, a pin shaft 9b, a pin shaft 9c, a pin shaft 9d, a second gasket 10b, a double-disc self-locking gasket 11, a shell 13 and a round nut 14;
FIG. 10 is a schematic diagram of a movable stator assembly composed of all stator assemblies, rotor assemblies, movable webs, output shafts, second gaskets, double-disc self-locking gaskets and round nuts in a second embodiment of an ultrasonic motor with a series structure according to the invention;
fig. 11 is a schematic structural diagram of a serial odd-numbered group of ultrasonic motors with a serial structure according to the present invention, in which fig. 11a is a simplified structural diagram of a movable web at the end when the ultrasonic motors with a serial odd-numbered group of moving stators with a serial structure according to the present invention (in the drawing, a 3-numbered group of moving stator structure is taken as an example), and fig. 11b is a schematic structural diagram of a complete machine when the ultrasonic motors with a serial odd-numbered group of moving stators with a serial structure according to the present invention (in the drawing, a 3-numbered group of moving stator structure is taken as an example).
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in fig. 4, the ultrasonic motor with the series structure comprises a shell, an output shaft penetrating through the shell, a pin shaft arranged on the shell, a front end cover arranged at the front end of the shell, a rear end cover arranged at the rear end of the shell, a pressing device arranged at the rear end cover and used for applying pre-pressing force to a terminal rotor, and at least one movable web component which is arranged inside the shell and is in clearance fit with the shell, wherein one side or two sides of the movable web component are provided with rotor components which are also sleeved on the output shaft;
the movable web plate component comprises a stator component which is fixed on the movable web plate through screws;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board;
the rotor assembly comprises a rotor, vibration damping rubber and friction materials;
as a further preferable mode of the invention, the middle of the rotor is provided with square holes which are connected in series on the output shaft through the square holes, every two adjacent rotor components are installed in a back-to-back mode, and meanwhile, a second gasket is arranged between the rotor components for isolation;
as a further preferable mode of the invention, a semicircular groove is formed on the circumferential cylindrical surface of the movable web plate, and a pin shaft for limiting the movable web plate assembly to move along the axial direction of the shell is arranged on the shell;
as a further preferred aspect of the present invention, the semicircular groove on the circumferential cylindrical surface of the movable web may be a square groove, or other variant but same function structure, and the corresponding housing is provided with a spline or other same function component for limiting the movement of the movable web assembly in the axial direction of the housing;
as a further preferred aspect of the present invention, the stator assembly includes a stator, a piezoelectric ceramic, and a flexible printed board, wherein an outlet end of the flexible printed board penetrates through the movable web and is fixed in a groove for outlet on a circumferential cylindrical surface of the movable web; a PCB is arranged on the rear end cover, and the flexible printed board is led out after being integrated through the PCB;
as a further preferred embodiment of the present invention, as shown in fig. 4, the aforementioned pressing device includes a rotatable pre-pressure adjusting part, a first washer, and a double-disc self-locking washer, wherein the bearing on the rear end cover is mounted on the pre-pressure adjusting part, the inner ring of the bearing is pressed on the first washer, the first washer is pressed on the double-disc self-locking washer, and the double-disc self-locking washer is pressed on the rotor at the end, thereby achieving the purpose of applying pre-pressure;
as shown in fig. 9, as a further preferred embodiment of the present invention, the aforementioned pressing device includes a round nut and a double-disc self-locking washer, wherein the round nut is sleeved on the end of the output shaft near the rear end cover, and threads matching with the round nut are provided on the output shaft, the round nut presses on the double-disc self-locking washer, the double-disc self-locking washer presses on the rotor at the end, and the round nut is rotated, thereby achieving the purpose of applying and adjusting the pre-pressing force; the rotor assembly, the stator assembly, the movable web, the output shaft, the second gasket, the double-disc self-locking gasket and the round nut form a movable stator assembly; the end face of the bearing inner ring on the rear end cover is contacted with a shaft shoulder on the output shaft, and the leaping of the output shaft in the axial direction is limited by controlling the gap between the end face of the bearing inner ring and the shaft shoulder on the output shaft;
as a further preferred aspect of the present invention, as shown in fig. 4, a square column structure with four corners having circular arcs is provided at the contact and engagement position of the output shaft and the rotor assembly, and is engaged with the square hole plane of the rotor, and the four corners circular arcs of the square column structure above the output shaft are engaged with the bearing mounted on the rear end cover;
as a further preferred aspect of the present invention, as shown in fig. 9, a square column structure with circular arcs at four corners is provided at the contact and matching position of the output shaft and the rotor assembly, and is matched with the square hole plane of the rotor, and a thread matched with the round nut is provided at the end of the square column structure above the output shaft;
gaps between the circumferences of the movable webs and the shell are filled with heat-conducting silicone grease or heat-conducting silica gel.
In the invention, as shown in fig. 9, the stator assembly is independent and fixed on the movable web plate through screws to form the movable web plate assembly, and the outgoing lines of the flexible printed board on the stator assembly penetrate through the through holes in the movable web plate and are stuck and fixed in the grooves for outgoing lines on the circumferential cylindrical surface of the movable web plate; the movable web plate is provided with a semicircular groove in the circumferential direction, the pin shaft arranged on the shell is matched with the circular arc groove in the circumferential direction of the movable web plate to limit the freedom degree of the movable web plate component in the circumferential direction, but the movable web plate component can freely slide in the axial direction in the shell; the semicircular grooves formed on the circumferential cylindrical surface of the movable web plate can be square grooves or other varied structures with the same function, and the corresponding shell is provided with key bars or other components with the same function for limiting the movement of the movable web plate assembly along the axial direction of the shell.
In the invention, as shown in fig. 6a, the matching part of the output shaft and the rotor is a square column structure with an arc; as shown in fig. 6b, the four planes of the square column of the output shaft are in clearance fit with the planes of the square holes of the stator, and the rotor can slide on the output shaft; the four circular arcs are in clearance fit with the bearing on the rear end cover, and the bearing can slide on the output shaft when being acted by axial force.
In the invention, all rotor components are connected in series on a shaft through square holes, wherein every two adjacent rotor components are installed in a back-to-back mode, and the rotor components are isolated by a second gasket with a certain thickness; meanwhile, all rotors connected in series keep the driving characteristics of the existing single stator-rotor traveling wave ultrasonic motor, as the rotor is connected with the output shaft in a matched manner through square holes at the root, the freedom degree of the rotor root in the axial direction is released, and the rotor is deformed under pressure and forms deformation matching with a corresponding stator vibrator, so that the stator-rotor always keeps a larger radial contact area in contact vibration, the better output performance of the stator-rotor is ensured, and further, the output torque of all the stator-rotor is ensured to have a better superposition effect.
In the invention, the wire outlet ends of the flexible printed boards on all stator components can penetrate through the movable web and are stuck and fixed in the grooves for wire outlet on the circumferential cylindrical surface of the movable web; finally, the integrated PCB on the rear end cover is led out, the PCB is communicated with the outlet interface, and the movable web plate assembly structure and the flexible printed board outlet are schematically shown in FIG. 7 a. It should be noted that the number of the partitions of the ceramic sheet is designed according to actual needs, not just one of the two, but also the diameter of the stator and the number of the waveforms of the stator.
In the invention, as shown in fig. 8, the piezoelectric ceramic plates of two stator assemblies mounted back-to-back on the same web assembly are connected in a cross manner and then are led out together, namely, a first group of stator assemblies A are connected with a second group of stator assemblies B, the first group of stator assemblies B are connected with a second group of stator assemblies A, so that the two groups of stator assemblies A are pushed in this manner and finally are combined into two phases (sin signal and cos signal), and the solitary poles of the piezoelectric ceramic plates are led out individually; when the phase difference of the two-phase signals is-90 degrees, the rotating direction of the motor can be changed; it is particularly noted that if the ceramic plates need to be monitored by the arc electrode, the arc electrodes of all the piezoelectric ceramic plates need to be individually wired out.
In the invention, the bearing on the rear end cover of the first embodiment is arranged on a precompression adjusting part with threads, and precompression is applied through the bearing inner ring extrusion gasket, the double-disc self-locking gasket and the rotor at the tail end; the movable web plate component and the rotor component can slide in the axial direction, and the precompression between all the stator and the rotor can be adjusted in real time by rotating the precompression adjusting part on the rear end cover. If the influence of friction force on the shell, the pin shaft on the shell and the output shaft is ignored, the precompression between the stator and the rotor can be adjusted in a self-adaptive mode under the static precompression or the dynamic precompression, and the precompression between the contact surfaces of all stator components and rotor components can be ensured to be consistent in theory (the acting force is in large reverse direction with the reacting force and the like).
According to the invention, the double-disc self-locking gasket is added on the line system for applying the pre-pressure, so that the pre-pressure adjusting part is prevented from loosening and changing the pre-pressure state caused by vibration in the running process of the motor, and the output state of the motor is ensured to a certain extent; after the motor is adjusted to proper pre-pressure and is well ground, the screw thread of the pre-pressure adjusting part can be fixed by dispensing to prevent loosening.
In the invention, when the number of stator and rotor groups connected in series on an output shaft is even (namely, 2 groups, 4 groups, 6 groups and … …), the part with the tail end contacted with the double-disc self-locking gasket is a rotor, and the applied pre-pressure is firstly pressed on the rotor; if the number of stator and rotor sets connected in series on the output shaft is odd (i.e. 1 set, 3 set, 5 set, … …), the part with the end in contact with the double-disc self-locking gasket can be a movable web, and the applied pre-compression force is firstly pressed on the movable web, as shown in the schematic diagram of fig. 11b, and at this time, the movable web at the end can be simplified into the structure shown in fig. 11 a.
It is known that during the operation of an ultrasonic motor, a large amount of heat is generated on the surfaces of the stator and the rotor due to friction, and the performance of the motor is affected by the high temperature generated after the heat is accumulated, so that the heat must be transferred out in time. In the invention, the heat of the rotor assembly is still transferred to the front and rear end covers through the output shaft, and the heat is emitted to the external environment through the front and rear end covers. The heat of the stator assembly is transferred to the shell through the movable web, and the heat is emitted to the external environment by the shell.
In the invention, the movable web is designed into an outer cylinder shape with a certain thickness, the movable web is in clearance fit with the shell, and the outer cylinder surface of the movable web is coated with heat-conducting silicone grease or heat-conducting silica gel during installation; firstly, the outer cylindrical surface can play a certain role in centering all stator assemblies connected in series; secondly, the heat radiating area is increased by the outer cylindrical surface, heat of the stator assembly can be rapidly transferred to the shell by means of heat conduction silicone grease or heat conduction silica gel, the shell dissipates the heat to the outside, the temperature of the stator assembly is prevented from being too high, and the performance of the whole motor is further guaranteed.
In addition, in the invention, 1 group, 2 groups, 3 groups, … … and n groups of stator and rotor can be connected in series according to the actual output torque requirement, so that the application range of the motor is enlarged, and of course, in practical application, more than 8 groups of stator and rotor are not suggested to be connected in series. Because the axial dimension of the motor is larger at this moment, the servo motors with the same axial dimension can be matched with the upper speed reducer to perform speed reduction and torque increase so as to meet the requirements; meanwhile, because the number of stator and rotor groups connected in series is more, the requirement on the consistency of the stator and the rotor is higher, the motor debugging difficulty is increased, and the reliability of the motor is reduced.
In the invention, the motor is installed and fixed by four holes on the flange of the front end cover, so that the end face of the front end cover is required to be perpendicular to the output shaft.
The series structure ultrasonic motor of the invention can have two structural arrangement modes according to different modes of applying pre-pressure, and the two structural arrangement modes are as follows:
example 1: the first motor structure arrangement mode is shown in fig. 4, and comprises the following technical characteristics: 1 is a front end cover, 2a is a bearing, 3 is an output shaft, 4a is a rotor component, 4a 1 Is vibration damping rubber, 4a 2 Is rotor, 4a 3 Is a friction material, 4b is a rotor assembly, 4b 1 Is vibration damping rubber, 4b 2 Is rotor, 4b 3 Is a friction material, 4c is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 4d is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 5a is a movable web component, 5a 1 5a is a stator assembly 11 Is stator, 5a 12 Is a piezoelectric ceramic piece 5a 13 Is a flexible printed board 5a 2 Is a movable web plate, and is provided with a plurality of grooves,5a 3 5a is a stator assembly 31 Is stator, 5a 32 Is a piezoelectric ceramic piece 5a 33 Is a flexible printed board, 5b is a movable web component, 5b 1 5b are stator assemblies 11 Is stator, 5b 12 Is a piezoelectric ceramic piece, 5b 13 Is a flexible printed board, 5b 2 Is a movable web, 5b 3 5b are stator assemblies 31 Is stator, 5b 32 Is a piezoelectric ceramic piece, 5b 33 The flexible printed board is characterized in that the flexible printed board is provided with a wire outlet port 6, a PCB 7, a rear end cover 8, a pin shaft 9a, a pin shaft 9b, a pin shaft 9c, a pin shaft 9d, a first gasket 10a, a second gasket 10b, a double-disc self-locking gasket 11, a pre-pressure adjusting part 12 and a shell 13;
the rear end cover is provided with a pre-pressure adjusting part with threads, the bearing is arranged on the pre-pressure adjusting part, and the bearing is in clearance fit with the output shaft. The bearing is extruded by rotating the pre-pressure adjusting part, the bearing axially slides along the output shaft, the bearing inner ring extrudes a gasket, the gasket extrudes a double-disc self-locking gasket, the double-disc self-locking gasket extrudes a rotor at the tail end, and finally the pre-pressure application is completed; under the structure, the bearings at the two ends and the end cover are acted by axial force; because the fit of the bearing on the rear end cover and the output shaft is clearance fit, the bearing can slide freely on the output shaft to a certain extent, and the coaxiality problem exists, so that the output shaft shakes, and the fit clearance between the output shaft and the bearing on the rear end cover needs to be strictly controlled under the structural scheme.
Example 2: the second motor structural arrangement mode is shown in fig. 9, and comprises the following technical characteristics: 1 is a front end cover, 2a is a bearing, 3 is an output shaft, 4a is a rotor component, 4a 1 Is vibration damping rubber, 4a 2 Is rotor, 4a 3 Is a friction material, 4b is a rotor assembly, 4b 1 Is vibration damping rubber, 4b 2 Is rotor, 4b 3 Is a friction material, 4c is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 4d is a rotor assembly, 4c 1 4c is vibration damping rubber 2 Is rotor, 4c 3 Is a friction material, 5a is a movable web component, 5a 1 5a is a stator assembly 11 Is stator, 5a 12 Is a piezoelectric ceramic piece 5a 13 Is a flexible printed board 5a 2 Is a movable web, 5a 3 5a is a stator assembly 31 Is stator, 5a 32 Is a piezoelectric ceramic piece 5a 33 Is a flexible printed board, 5b is a movable web component, 5b 1 5b are stator assemblies 11 Is stator, 5b 12 Is a piezoelectric ceramic piece, 5b 13 Is a flexible printed board, 5b 2 Is a movable web, 5b 3 5b are stator assemblies 31 Is stator, 5b 32 Is a piezoelectric ceramic piece, 5b 33 The flexible printed board is characterized in that the flexible printed board is provided with a wire outlet port 6, a PCB 7, a rear end cover 8, a pin shaft 9a, a pin shaft 9b, a pin shaft 9c, a pin shaft 9d, a second gasket 10b, a double-disc self-locking gasket 11, a shell 13 and a round nut 14;
in the structural scheme, the output shaft is provided with threads, a round nut on the output shaft is rotated to extrude the double-disc self-locking gasket, the double-disc self-locking gasket extrudes a rotor at the tail end, and finally the precompression is applied. As shown in fig. 10, all stator assemblies, rotor assemblies, movable webs, output shafts, gaskets, double-disc self-locking gaskets, round nuts in this structural solution may constitute a large assembly, which is herein temporarily referred to as "movable stator assembly". After the pre-compression is applied in place, the entire "moving stator assembly" can be placed into the housing, and then the end caps at both ends installed to complete the final assembly. Since the bearings at the two ends only play a role in supporting and limiting the output shaft from bouncing in the axial direction, the shoulders at the two ends of the output shaft are in contact with the bearings (a small gap exists), and therefore, the two bearings and the two end covers in the structural scheme are not acted by axial force. Because the scheme can not adjust the pre-pressure in real time, the rear end cover must be detached when the pre-pressure is required to be readjusted, the structural scheme is required to design a set of tool for debugging the 'moving stator assembly', and the 'moving stator assembly' is assembled finally after being debugged well.
Because the ultrasonic motor with the series structure can be connected with n groups of movable stators in series, the more the number of groups are connected in series, the more heat is generated in the motor, and when the internal temperature of the motor is too high, the output performance of the motor can be seriously affected, so that the heat on the stator needs to be rapidly dissipated. For this reason, the outer cylinder of the movable web in the present invention plays a role of heat dissipation in addition to the guiding function. Meanwhile, because the outer cylindrical surface of the movable web plate is in clearance fit with the shell, when the movable web plate assembly is installed, the outer cylindrical surface of the movable web plate is uniformly coated with a layer of heat-conducting silicone grease or heat-conducting silica gel, heat on the stator is rapidly transferred to the shell by means of the heat-conducting silicone grease or the heat-conducting silica gel, and finally, the heat is emitted to the external environment.
In order to ensure the quick response characteristic of starting and stopping of the motor, all piezoelectric ceramic plates on the stator of the motor share an excitation signal sent by a frequency generation module; meanwhile, in order to ensure that the motor normally operates, all travelling waves generated by the stators are required to move in the same direction, so that the two phases of the piezoelectric ceramic plates on all the stators are required to be correctly connected.
The length of the ultrasonic motor shell with the series structure is determined according to the number of stator and rotor groups in series. It is specifically proposed that when the number of stator and rotor groups connected in series is odd, the movable web at the end can be simplified as shown in fig. 11a, and the pre-compression force applied can be first applied to the movable web as shown in the schematic diagram of fig. 11 b.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as referred to in this application means that each exists alone or both.
As used herein, "connected" means either a direct connection between elements or an indirect connection between elements via other elements.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (9)
1. The utility model provides a tandem structure ultrasonic motor, includes the casing, runs through the output shaft of casing, installs the round pin axle on the casing, installs the front end housing at the casing front end, installs the rear end housing at the casing rear end and set up the pressure applying device that is used for exerting precompression terminal rotor in rear end housing department, its characterized in that: the rotor assembly is also arranged on one side or two sides of the movable web assembly and is also sleeved on the output shaft;
the movable web plate component comprises a stator component which is fixed on the movable web plate through screws;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board;
the rotor assembly comprises a rotor, vibration damping rubber and friction materials;
the movable web plate component and the rotor components which are arranged on one side or two sides of the movable web plate component and are sleeved on the output shaft in the same way form a stator-rotor component unit, and the stator-rotor components with corresponding numbers are connected in series according to the output torque requirement.
2. The tandem structure ultrasonic motor of claim 1, wherein: the square hole is formed in the middle of the rotor, the square holes are connected in series on the output shaft, every two adjacent rotor assemblies are installed in a back-to-back mode, and meanwhile a second gasket is arranged between the rotor assemblies for isolation.
3. The tandem structure ultrasonic motor according to claim 2, wherein: a semicircular groove is formed in the circumferential cylindrical surface of the movable web plate, and a pin shaft used for limiting the movement of the movable web plate assembly in the axial direction of the shell is arranged on the shell.
4. The tandem structure ultrasonic motor according to claim 2, wherein: a square groove is formed in the circumferential cylindrical surface of the movable web plate, and a key bar used for limiting the movable web plate assembly to move along the axial direction of the shell is arranged on the corresponding shell.
5. The tandem structure ultrasonic motor according to claim 3 or 4, wherein: the stator assembly comprises a stator, piezoelectric ceramics and a flexible printed board, wherein the wire outlet end of the flexible printed board penetrates through the movable web and is adhered and fixed in a groove used for wire outlet on the circumferential cylindrical surface of the movable web; and a PCB is arranged on the rear end cover, and the flexible printed board is led out after being integrated through the PCB.
6. The tandem structure ultrasonic motor of claim 5, wherein: the pressing device comprises a rotatable precompression adjusting part, a first gasket and a double-disc self-locking gasket, wherein a bearing on the rear end cover is arranged on the precompression adjusting part, an inner ring of the bearing is pressed on the first gasket, the first gasket is pressed on the double-disc self-locking gasket, and the double-disc self-locking gasket is pressed on a rotor at the tail end, so that the aim of applying precompression is fulfilled.
7. The tandem structure ultrasonic motor of claim 5, wherein: the pressing device comprises a round nut and a double-disc self-locking gasket, wherein the round nut is sleeved on the end head of the output shaft close to the rear end cover, threads matched with the round nut are arranged on the output shaft, the round nut is pressed on the double-disc self-locking gasket, the double-disc self-locking gasket is pressed on the rotor at the tail end, and the round nut is rotated to achieve the aim of applying and adjusting the precompression; the rotor assembly, the stator assembly, the movable web, the output shaft, the second gasket, the double-disc self-locking gasket and the round nut form a movable stator assembly; the end face of the bearing inner ring on the rear end cover is contacted with the shaft shoulder on the output shaft, and the leaping of the output shaft in the axial direction is limited by controlling the gap between the end face of the bearing inner ring and the shaft shoulder on the output shaft.
8. The tandem structure ultrasonic motor of claim 6, wherein: the contact matching position of the output shaft and the rotor assembly is provided with a square column structure with four corners provided with circular arcs, the square column structure is matched with the square hole plane of the rotor, and the four corners of the square column structure above the output shaft are matched with the bearing arranged on the rear end cover.
9. The tandem structure ultrasonic motor of claim 7, wherein: the contact matching position of the output shaft and the rotor assembly is provided with a square column structure with four corners provided with circular arcs, the square column structure is matched with the square hole plane of the rotor, and the tail end of the square column structure above the output shaft is provided with threads matched with a round nut;
gaps between the circumferences of the movable webs and the shell are filled with heat-conducting silicone grease or heat-conducting silica gel.
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| CN108880322B (en) * | 2018-08-29 | 2024-03-26 | 南京航达超控科技有限公司 | Rotary traveling wave ultrasonic motor adopting brand-new precompression application mode |
| CN109932430B (en) * | 2018-11-02 | 2021-08-20 | 国核电站运行服务技术有限公司 | Online ultrasonic detection tilt self-adaptive coaxiality adjusting mechanism and adjusting method |
| CN113206617B (en) * | 2021-05-11 | 2022-10-11 | 南京航达超控科技有限公司 | High-overload-resistant double-stator-rotor serial ultrasonic motor and implementation mode |
| CN114696656B (en) * | 2022-05-31 | 2022-08-23 | 南京航达超控科技有限公司 | Four-stator-rotor series ultrasonic motor |
| CN115580167B (en) * | 2022-11-23 | 2023-03-10 | 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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