CN108448926A - A kind of two-freedom ultrasound electric machine and its driving method - Google Patents
A kind of two-freedom ultrasound electric machine and its driving method Download PDFInfo
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- CN108448926A CN108448926A CN201711335371.5A CN201711335371A CN108448926A CN 108448926 A CN108448926 A CN 108448926A CN 201711335371 A CN201711335371 A CN 201711335371A CN 108448926 A CN108448926 A CN 108448926A
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000009471 action Effects 0.000 description 8
- 230000000644 propagated effect Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000036316 preload Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention relates to a kind of straight line, rotation two-freedom ultrasound electric machine and its driving methods.Ultrasound electric machine ontology uses two independent helical structure stators, and one left-handed, and a dextrorotation, two spiral shape stator coils can generate straight line or rotary motion when being driven by distinct methods, and to constitute two-freedom motor, specific driving method is：Two spirals are moved in a straight line with phase exciting, and reverse phase exciting rotates.Bimorph transducer in the present invention can effectively decompose active force of the helical structure to rotor, and by controlling the exciting mode of two spirals, ultrasound electric machine may be implemented in straight line and rotation two-freedom operation.
Description
Technical field：
The present invention relates to a kind of bimorph transducer two-freedom ultrasound electric machine and its driving methods, belong to specific type of electric machine technology neck
Domain.
Background technology：
Ultrasound electric machine is the inverse piezoelectric effect using piezoceramic material, and the vibrational energy in piezoelectric vibrator supersonic range is turned
It changes mechanical energy into and drives a kind of New-type electric machine of rotor motion by frictional force, have simple and compact for structure, dry without electromagnetism
Disturb, low rotation speed large torque, high resolution the features such as, it is aobvious in fields such as microrobot, minute vehicle, mini-medical devices
Wide application prospect is shown.
Spiral shape stator ultrasound micro-motor belongs to one kind of traveling wave type ultrasonic motor.As currently most representative and application
Most a kind of ultrasound electric machines, traveling wave type ultrasonic motor have been subjected to the development of decades, and domestic and foreign scholars are to different structure
The working mechanism and the relevant technologies of travelling wave supersonic motor have carried out extensive research.Compared with existing travelling wave supersonic motor, spiral shape
The main advantage of stator ultrasound electric machine is：(1) spiral shape stator substantially increases the contact area between stator and rotor, is conducive to
Output torque is improved, abrasion is reduced；(2) preload and supporting role can be realized in spiral shape stator structure itself, is not necessarily to additionally
Preload and supporting mechanism；(3) spiral shape stator processing is simple for process, and cost is relatively low, is advantageously implemented industrialization.
The intrinsic helical structure of spiral shape stator makes it while driving rotor rotation, also generates axial driving force, i.e.,
The rotary motion and axial movement of spiral shape stator ultrasound electric machine coexist, and are either used to construct electric rotating machine or straight
Line motor, the driving force coexisted are required for motor additionally to set up an organization being eliminated, and also affect the stabilization of ultrasound electric machine operation
Property.
The present invention proposes a kind of bimorph transducer coil ultrasound electric machine, and double-spiral coil differently combines and exciting, can be with
Effectively decompose helical structure to the active force of rotor, eliminate axial direction therein or normal component of force, realize ultrasound electric machine rotation or
Linear running.
Invention content：
The present invention proposes a kind of two-freedom ultrasound electric machine with bimorph transducer coil, double-spiral coil differently into
Row exciting can offset the axial direction or normal component of force of the generation of spiral shape stator, can be free with straight line and rotation two to construct
The ultrasound electric machine for spending operation, by exchanging exciting and absorbing direction, it may be convenient to realize the commutation of ultrasound electric machine.
Technical solution provided by the invention is as follows：
A kind of straight line, the ultrasound electric machine for rotating two degree of freedom；Stator is made of two helical structures；Rotor is tubulose
Structure, outer diameter are slightly less than stator spiral internal diameter；Rotor passes through two threaded interiors；Two spiral shape stators one are left-handed, one
Dextrorotation, parameter is symmetrical, is co-axially mounted；The material of spiral shape stator is metal, rectangular cross-section, square or circle.
The driving method of the two-freedom ultrasound electric machine is：
Helical structure stator one, which terminates ultrasonic vibrator, another termination bump leveller or application and vibrator, has a phase bit
The accumulation signal of relationship, excitation stator generate traveling wave along helix；Two spiral shape stators independently drive；Two spirals
Drive specification parameter used in shape stator is identical；Two spiral shape stators generate driving force to rotor respectively, and the resultant force of the two is total
With driving rotor motion；
Ultrasound electric machine shares 4 kinds of working conditions：The operation of straight line forward direction straight line inverted running, is rotated in the forward direction, is reversely rotated；
Two spirals are with phase exciting, as shown in Figure 1, ultrasound electric machine rotor straight line forward direction is run；Two spirals are with phase exciting, such as Fig. 2 institutes
Show, ultrasound electric machine rotor straight line inverted running；Two spiral reverse phase excitings, as shown in figure 3, ultrasound electric machine rotor rotates in the forward direction；
Two spiral reverse phase excitings, as shown in figure 4, ultrasound electric machine rotor reversely rotates；It is changed to reverse phase exciting, ultrasonic electric with phase exciting
Machine becomes rotating operation from linear running；Reversed exciting is changed to same phase exciting, and ultrasound electric machine becomes straight line fortune from rotating operation
Row；
Under the conditions of phase exciting, exciting mode is changed to as shown in Figure 1 shown in Fig. 2, or is changed to as shown in Figure 2 shown in Fig. 1,
It commutates in linear running direction；
Under the conditions of reverse phase exciting, exciting mode is changed to as shown in Figure 3 shown in Fig. 4, or is changed to as shown in Figure 4 shown in Fig. 3,
It commutates in rotary motion direction.
The present invention has following technical characterstic：
(1) two stator spiral independently drives, and when ultrasonic vibrator vibration is identical, can make the driving of two coils
Power is full symmetric, and the coil drive power generated due to decaying because vibrating when eliminating coil series connection is asymmetric, therefore in straight line and rotation
Turn that single-degree-of-freedom operation can be achieved in two degree of freedom；
(2) application of double helix stator ultrasound electric machine is more flexible, can be with when same motor is driven by different exciting modes
The operation switching for realizing two straight line, rotation degree of freedom, can also easily realize the commutation control of two degree of freedom；
(3) stator and rotor contact area is big, is conducive to improve output torque, reduces abrasion；
(4) when coordinating long waveguide design, bimorph transducer coil ultrasound electric machine is very suitable for miniaturized design.
Description of the drawings：
Two spirals of Fig. 1 are run with phase exciting straight line forward direction
Two spirals of Fig. 2 are the same as phase exciting straight line inverted running
Two spiral reverse phase excitings of Fig. 3 rotate in the forward direction
Two spiral reverse phase excitings of Fig. 4 reversely rotate
Fig. 5 two-freedom ultrasound electric machine structural schematic diagrams
1. bump leveller；2. ultrasonic transducer
Specific implementation mode：
A kind of straight line, the ultrasound electric machine for rotating two degree of freedom：Stator is made of two helical structures；Rotor is tubulose
Structure, outer diameter are slightly less than stator spiral internal diameter；Rotor passes through two threaded interiors；Two spiral shape stators one are left-handed, one
Dextrorotation, parameter is symmetrical, is co-axially mounted；The material of spiral shape stator is metal, rectangular cross-section, square or circle.
The driving method of the two-freedom ultrasound electric machine is：
Helical structure stator one, which terminates ultrasonic vibrator, another termination bump leveller or application and vibrator, has a phase bit
The accumulation signal of relationship, excitation stator generate traveling wave along helix；Two spiral shape stators independently drive；Two spirals
Drive specification parameter used in shape stator is identical；Two spiral shape stators generate driving force to rotor respectively, and the resultant force of the two is total
With driving rotor motion；
Ultrasound electric machine shares 4 kinds of working conditions：The operation of straight line forward direction straight line inverted running, is rotated in the forward direction, is reversely rotated；
Two spirals are with phase exciting, as shown in Figure 1, the spiral on the left side is left-handed, the spiral on the right is dextrorotation.Left side spiral
Left end pin and the left end pin of the right spiral be fixed on bump leveller, the right side of the right end pin and left side spiral of the right spiral
End pin is fixed on ultrasonic transducer.The right end pin of the right spiral is propagated since exciting generates traveling wave along helical spiral, and
The direction of motion of rotor is opposite with the traveling wave direction of propagation.So rotor (in terms of left end) clockwise under the action of right end spiral
It moves right.Similarly, the right end pin of left side spiral is propagated due to exciting generation traveling wave along helical spiral, and the movement of rotor
Direction is opposite with the traveling wave direction of propagation.So rotor moves right (in terms of left end) counterclockwise under the action of left end spiral.
Normal direction drives force direction on the contrary, cancelling out each other, and axial driving force is identical, therefore ultrasound electric machine rotor straight line forward direction is run；
Two spirals are with phase exciting, as shown in Fig. 2, the spiral on the left side is left-handed, the spiral on the right is dextrorotation.Left side spiral
Left end pin and the left end pin of the right spiral be fixed on ultrasonic transducer, the right end pin and left end spiral of the right spiral
Right end pin be fixed on bump leveller.The left end pin of left side spiral is propagated since exciting generates traveling wave along helical spiral, and
The direction of motion of rotor is opposite with the traveling wave direction of propagation.So rotor (in terms of left end) clockwise under the action of left end spiral
It moves downward.The left end pin of the right spiral is propagated since exciting generates traveling wave along helical spiral, and the direction of motion of rotor
It is opposite with the traveling wave direction of propagation.So rotor moves downward (in terms of left end) counterclockwise under the action of right end spiral.Normal direction
Drive force direction on the contrary, cancelling out each other, axial driving force is identical, therefore ultrasound electric machine rotor straight line inverted running；
Two spiral reverse phase excitings, as shown in figure 3, the spiral on the left side is left-handed, the spiral on the right is dextrorotation.Two spirals
That one end extracted close to rotor midpoint is fixed on bump leveller, and that one end of two spirals far from rotor midpoint is fixed
On ultrasonic transducer.The left end pin of the spiral on the left side is propagated since exciting generates traveling wave along helical spiral, and rotor
The direction of motion is opposite with the traveling wave direction of propagation.So rotor under the action of left end spiral it is clockwise (in terms of left end) transport to the left
It is dynamic.The right end of the spiral on the right is propagated since exciting generates traveling wave along helical spiral, and the direction of motion of rotor is passed with traveling wave
It is opposite to broadcast direction.So rotor moves right (in terms of left end) clockwise under the action of right end spiral.Axial driving force side
To on the contrary, cancelling out each other, normal direction driving force is identical, therefore ultrasound electric machine rotor rotates in the forward direction；
Two spiral reverse phase excitings, as shown in figure 4, the spiral on the left side is left-handed, the spiral on the right is dextrorotation.Two spirals
That one end extracted close to rotor midpoint is fixed on ultrasonic transducer, and that one end of two spirals far from rotor midpoint
It is fixed on bump leveller.The right end pin of the spiral on the left side is propagated since exciting generates traveling wave along helical spiral, and rotor
The direction of motion is opposite with the traveling wave direction of propagation.So rotor under the action of left end spiral it is counterclockwise (in terms of left end) transport to the right
It is dynamic.The left end of the spiral on the right is propagated since exciting generates traveling wave along helical spiral, and the direction of motion of rotor is passed with traveling wave
It is opposite to broadcast direction.So rotor moves downward (in terms of left end) counterclockwise under the action of right end spiral.Axial driving force side
To on the contrary, cancelling out each other, normal direction driving force is identical, therefore ultrasound electric machine rotor reversely rotates；
It is changed to reverse phase exciting with phase exciting, ultrasound electric machine becomes rotating operation from linear running；Reversed exciting is changed to same phase
Exciting, ultrasound electric machine become linear running from rotating operation；Under the conditions of phase exciting, exciting mode is changed to Fig. 2 as shown in Figure 1
It is shown, or be changed to as shown in Figure 2 shown in Fig. 1, the commutation of linear running direction；Under the conditions of reverse phase exciting, exciting mode is by Fig. 3
It is shown to be changed to shown in Fig. 4, or be changed to as shown in Figure 4 shown in Fig. 3, the commutation of rotary motion direction.
Claims (3)
1. a kind of two-freedom ultrasound electric machine, it is characterised in that including：
The symmetrical spiral shape stator of two parameters, one left-handed, a dextrorotation, and two stators pass through the identical ultrasound of two groups of parameters
Oscillator, which independently drives, generates traveling wave, generates driving force to rotor respectively, the various combinations of two groups of driving forces make rotor in straight line and
Rotate two-freedom operation.
2. the driving method of two-freedom ultrasound electric machine described in claim 1 includes：
Two spiral shape stators are with phase exciting, i.e., when both head end exciting, tail end absorb, rotor generates linear motion；Two
Spiral shape stator reverse phase exciting, i.e. a head end exciting, tail end absorb, and when another tail end exciting, head end absorb, rotor generates
Rotary motion.
3. straight line and rotary motion described in claim 2 can carry out the conversion in the method for operation and direction：
Become reverse phase exciting with phase exciting, motor is converted to rotary motion by moving along a straight line；Reverse phase exciting becomes same phase exciting, electricity
Machine is converted to linear motion by rotary motion.
The exciting mode that moves along a straight line still is same phase, but the two is changed to tail end exciting, head end absorbs, linear motion commutation at this time；Rotation
It is reverse phase that transhipment, which moves exciting mode still, but the exciting of two spiral shape stators, absorbing direction are exchanged simultaneously, and rotary motion at this time is changed
To.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711335371.5A CN108448926B (en) | 2017-12-08 | 2017-12-08 | Two-degree-of-freedom ultrasonic motor and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711335371.5A CN108448926B (en) | 2017-12-08 | 2017-12-08 | Two-degree-of-freedom ultrasonic motor and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108448926A true CN108448926A (en) | 2018-08-24 |
| CN108448926B CN108448926B (en) | 2020-04-10 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3859477A (en) * | 1971-06-24 | 1975-01-07 | Tesla Np | Electrostatic transducer |
| JPH10296186A (en) * | 1997-04-22 | 1998-11-10 | Tdk Corp | Surface acoustic wave actuator |
| CN1951000A (en) * | 2004-05-21 | 2007-04-18 | 守屋正 | Ultrasonic motor |
| CN101453177A (en) * | 2008-12-30 | 2009-06-10 | 浙江师范大学 | Split type helical stator micromotor |
| CN201314861Y (en) * | 2008-11-27 | 2009-09-23 | 苏州苏试试验仪器有限公司 | New dual-wire reverse winding structure of electrical vibration table moving coil |
| CN201742323U (en) * | 2010-06-02 | 2011-02-09 | 浙江师范大学 | Novel straight ultrasonic micromotor |
| CN102185519A (en) * | 2011-05-11 | 2011-09-14 | 南京航空航天大学 | Mode conversion type piezoelectric thread transmission linear ultrasonic motor |
| CN106712570A (en) * | 2017-03-17 | 2017-05-24 | 浙江师范大学 | Series positive-negative spiral stator linear ultrasonic motor |
-
2017
- 2017-12-08 CN CN201711335371.5A patent/CN108448926B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3859477A (en) * | 1971-06-24 | 1975-01-07 | Tesla Np | Electrostatic transducer |
| JPH10296186A (en) * | 1997-04-22 | 1998-11-10 | Tdk Corp | Surface acoustic wave actuator |
| CN1951000A (en) * | 2004-05-21 | 2007-04-18 | 守屋正 | Ultrasonic motor |
| CN201314861Y (en) * | 2008-11-27 | 2009-09-23 | 苏州苏试试验仪器有限公司 | New dual-wire reverse winding structure of electrical vibration table moving coil |
| CN101453177A (en) * | 2008-12-30 | 2009-06-10 | 浙江师范大学 | Split type helical stator micromotor |
| CN201742323U (en) * | 2010-06-02 | 2011-02-09 | 浙江师范大学 | Novel straight ultrasonic micromotor |
| CN102185519A (en) * | 2011-05-11 | 2011-09-14 | 南京航空航天大学 | Mode conversion type piezoelectric thread transmission linear ultrasonic motor |
| CN106712570A (en) * | 2017-03-17 | 2017-05-24 | 浙江师范大学 | Series positive-negative spiral stator linear ultrasonic motor |
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| CN108448926B (en) | 2020-04-10 |
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