CN108448926B - Two-degree-of-freedom ultrasonic motor and driving method thereof - Google Patents
Two-degree-of-freedom ultrasonic motor and driving method thereof Download PDFInfo
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- CN108448926B CN108448926B CN201711335371.5A CN201711335371A CN108448926B CN 108448926 B CN108448926 B CN 108448926B CN 201711335371 A CN201711335371 A CN 201711335371A CN 108448926 B CN108448926 B CN 108448926B
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Abstract
The invention relates to a linear and rotary two-degree-of-freedom ultrasonic motor and a driving method thereof. The ultrasonic motor body adopts two independent spiral structure stators, one is rotated leftwards and one is rotated rightwards, and the two spiral stator coils can generate linear or rotary motion when being driven according to different methods, thereby forming a two-degree-of-freedom motor, and the specific driving method is as follows: the two spirals are excited in phase to move linearly and in antiphase to move rotationally. The double stators can effectively decompose the acting force of the spiral structure on the rotor, and the ultrasonic motor can operate in two degrees of freedom of linear and rotation by controlling the excitation mode of the two spirals.
Description
The technical field is as follows:
the invention relates to a double-stator two-degree-of-freedom ultrasonic motor and a driving method thereof, belonging to the technical field of special motors.
Background art:
the ultrasonic motor is a novel motor which converts vibration energy in an ultrasonic frequency band of a piezoelectric vibrator into mechanical energy by utilizing the inverse piezoelectric effect of a piezoelectric ceramic material and drives a rotor to move by depending on friction force, has the characteristics of simple and compact structure, no electromagnetic interference, low rotating speed, large torque, high resolution and the like, and shows wide application prospect in the fields of micro robots, micro aircrafts, micro medical devices and the like.
A spiral stator ultrasonic micromotor belongs to one of traveling wave type ultrasonic motors. Traveling-wave ultrasonic motors, which are currently the most representative and applied ultrasonic motors, have been developed for decades, and researchers at home and abroad have conducted extensive studies on the working mechanisms and related technologies of traveling-wave ultrasonic motors with different structures. Compared with the existing traveling wave ultrasonic motor, the spiral stator ultrasonic motor has the main advantages that: (1) the spiral stator greatly improves the contact area between the stator and the rotor, is beneficial to improving the output torque and reducing the abrasion; (2) the spiral stator structure can realize the pre-tightening and supporting functions without an additional pre-tightening and supporting mechanism; and (3) the spiral stator is simple in processing technology, low in cost and beneficial to realization of industrialization.
The inherent spiral structure of the spiral stator enables the spiral stator to drive the rotor to rotate and simultaneously generate axial driving force, namely, the rotary motion and the axial motion of the spiral stator ultrasonic motor coexist, and the coexisting driving force needs to be eliminated by an additional motor arrangement mechanism no matter whether the spiral stator ultrasonic motor is used for constructing a rotary motor or a linear motor, and the running stability of the ultrasonic motor is also influenced.
The invention provides a double-stator coil ultrasonic motor, wherein double spiral coils are combined and excited in different modes, so that the acting force of a spiral structure on a rotor can be effectively decomposed, the axial or normal component force in the rotor is eliminated, and the rotation or linear operation of the ultrasonic motor is realized.
The invention content is as follows:
the invention provides a two-degree-of-freedom ultrasonic motor with double stator coils, wherein the double spiral coils are excited according to different modes, and axial or normal component force generated by a spiral stator can be offset, so that the ultrasonic motor capable of running in two degrees of freedom of straight line and rotation is constructed, and the direction of excitation and vibration absorption can be adjusted, so that the reversing of the ultrasonic motor can be conveniently realized.
The technical scheme provided by the invention is as follows:
an ultrasonic motor with two degrees of freedom of linear and rotation; the stator consists of two spiral structures; the rotor is of a tubular structure, and the outer diameter of the rotor is slightly smaller than the inner diameter of the stator spiral; the rotor passes through the inner parts of the two spirals; the two spiral stators are arranged coaxially, one is in left-handed rotation and the other is in right-handed rotation, and the parameters are symmetrical; the spiral stator is made of metal and has a rectangular, square or circular cross section.
The driving method of the two-degree-of-freedom ultrasonic motor comprises the following steps:
one end of the stator with the spiral structure is connected with the ultrasonic vibrator, and the other end of the stator with the spiral structure is connected with the vibration absorber or is applied with a vibration exciting signal which has a certain phase relation with the vibration exciter, so that the stator is excited to generate traveling waves along a spiral line; the two spiral stators are respectively and independently driven; the specification parameters of the drivers used by the two spiral stators are the same; the two spiral stators respectively generate driving force for the rotor, and the resultant force of the two spiral stators drives the rotor to move together;
the ultrasonic motor has 4 working states: straight forward running, straight reverse running, forward rotation and reverse rotation; two spirals are excited in phase, as shown in figure 1, the rotor of the ultrasonic motor runs straight and forward; two spirals are excited in phase, as shown in fig. 2, the ultrasonic motor rotor runs in a straight line and in a reverse direction; two spirals are excited in opposite phases, as shown in fig. 3, the rotor of the ultrasonic motor rotates in the forward direction; two spirals are excited in opposite phases, as shown in fig. 4, the ultrasonic motor rotor rotates in opposite directions; the in-phase excitation is changed into the reverse-phase excitation, and the ultrasonic motor is changed from the linear operation into the rotary operation; the reverse excitation is changed into the in-phase excitation, and the ultrasonic motor is changed from the rotary operation into the linear operation;
under the same-phase excitation condition, the excitation mode is changed from that shown in figure 1 to that shown in figure 2, or from that shown in figure 2 to that shown in figure 1, and the linear running direction is reversed;
under the condition of reverse excitation, the excitation mode is changed from that shown in FIG. 3 to that shown in FIG. 4, or from that shown in FIG. 4 to that shown in FIG. 3, and the rotating motion direction is reversed.
The invention has the following technical characteristics:
(1) the two stator spirals are respectively and independently driven, when the ultrasonic vibrators vibrate in the same direction, the driving forces of the two coils can be completely symmetrical, and the asymmetry of the driving forces of the coils generated by vibration attenuation when the coils are connected in series is eliminated, so that the single-degree-of-freedom operation can be realized on both straight lines and rotation degrees of freedom;
(2) the double-spiral stator ultrasonic motor is more flexible to apply, when the same motor is driven in different excitation modes, the operation switching of two degrees of freedom of linear rotation and rotation can be realized, and the reversing control of the two degrees of freedom can be conveniently realized;
(3) the contact area of the stator and the rotor is large, so that the output torque is improved, and the abrasion is reduced;
(4) when the double-stator coil ultrasonic motor is matched with a long waveguide design, the double-stator coil ultrasonic motor is very suitable for miniaturization design.
Description of the drawings:
FIG. 1 two spiral in-phase excitation straight-line forward running
FIG. 2 two spiral in-phase excitation straight line reverse operation
FIG. 3 two spiral reverse-phase excitation positive rotation
FIG. 4 shows two spiral opposite-phase excitation counter-rotations; FIG. 5 is a schematic diagram of a two-degree-of-freedom ultrasonic motor structure
1-a vibration absorber; 2-ultrasonic transducer
The specific implementation mode is as follows:
an ultrasonic motor with two degrees of freedom of linear and rotation: the stator consists of two spiral structures; the rotor is of a tubular structure, and the outer diameter of the rotor is slightly smaller than the inner diameter of the stator spiral; the rotor passes through the inner parts of the two spirals; the two spiral stators are arranged coaxially, one is in left-handed rotation and the other is in right-handed rotation, and the parameters are symmetrical; the spiral stator is made of metal and has a rectangular, square or circular cross section.
The driving method of the two-degree-of-freedom ultrasonic motor comprises the following steps:
one end of the stator with the spiral structure is connected with the ultrasonic vibrator, and the other end of the stator with the spiral structure is connected with the vibration absorber or is applied with a vibration exciting signal which has a certain phase relation with the vibration exciter, so that the stator is excited to generate traveling waves along a spiral line; the two spiral stators are respectively and independently driven; the specification parameters of the drivers used by the two spiral stators are the same; the two spiral stators respectively generate driving force for the rotor, and the resultant force of the two spiral stators drives the rotor to move together;
the ultrasonic motor has 4 working states: straight forward running, straight reverse running, forward rotation and reverse rotation;
the two helices excite in phase, as shown in fig. 1, the left helix is left-handed and the right helix is right-handed. The left end pin of the left side spiral and the left end pin of the right side spiral are fixed on the vibration absorber, and the right end pin of the right side spiral and the right end pin of the left side spiral are fixed on the ultrasonic transducer. The right end pin of the right spiral generates traveling waves due to excitation and transmits along the spiral, and the motion direction of the rotor is opposite to the traveling wave transmission direction. Therefore, the rotor moves clockwise (as viewed from the left end) to the right by the right-end screw. In the same way, the pin at the right end of the left spiral generates traveling waves due to excitation and propagates along the spiral, and the motion direction of the rotor is opposite to the propagation direction of the traveling waves. Therefore, the rotor moves counterclockwise (as viewed from the left end) to the right by the left-end screw. The normal driving forces are opposite in direction and offset with each other, and the axial driving forces are the same, so that the ultrasonic motor rotor linearly and positively runs;
the two helices excite in phase, as shown in fig. 2, the left helix is left-handed and the right helix is right-handed. The left end pin of the left side spiral and the left end pin of the right side spiral are fixed on the ultrasonic transducer, and the right end pin of the right side spiral and the right end pin of the left end spiral are fixed on the vibration absorber. The left end pin of the left spiral generates traveling waves due to excitation and propagates along the spiral, and the motion direction of the rotor is opposite to the propagation direction of the traveling waves. Therefore, the rotor moves clockwise (as viewed from the left end) to the left by the left end screw. The left end pin of the right spiral generates traveling waves due to excitation and transmits along the spiral, and the motion direction of the rotor is opposite to the traveling wave transmission direction. Therefore, the rotor moves counterclockwise (as viewed from the left end) to the left by the right-hand screw. The normal driving forces are opposite in direction and offset with each other, and the axial driving forces are the same, so that the ultrasonic motor rotor linearly and reversely runs;
the two helices excite in opposite phases, as shown in fig. 3, the left helix is left-handed and the right helix is right-handed. The end of the two screws close to the middle point of the rotor is fixed on the vibration absorber, and the end of the two screws far away from the middle point of the rotor is fixed on the ultrasonic transducer. The left end pin of the left spiral generates traveling waves due to excitation and propagates along the spiral, and the motion direction of the rotor is opposite to the propagation direction of the traveling waves. Therefore, the rotor moves clockwise (as viewed from the left end) to the left by the left end screw. The right end of the right spiral generates traveling wave due to excitation, and the traveling wave propagates along the spiral, and the moving direction of the rotor is opposite to the traveling wave propagation direction. Therefore, the rotor moves clockwise (as viewed from the left end) to the right by the right-end screw. The axial driving forces are opposite in direction and offset with each other, and the normal driving forces are the same, so that the ultrasonic motor rotor rotates positively;
the two helices excite in opposite phases, as shown in fig. 4, the left helix is left-handed and the right helix is right-handed. The end of the two screws close to the middle point of the rotor is fixed on the ultrasonic transducer, and the end of the two screws far away from the middle point of the rotor is fixed on the vibration absorber. The right end pin of the left spiral generates traveling waves due to excitation and propagates along the spiral, and the motion direction of the rotor is opposite to the propagation direction of the traveling waves. Therefore, the rotor moves counterclockwise (as viewed from the left end) to the right by the left-end screw. The left end of the right spiral generates traveling wave due to excitation and propagates along the spiral, and the moving direction of the rotor is opposite to the traveling wave propagation direction. Therefore, the rotor moves counterclockwise (as viewed from the left end) to the left by the right-hand screw. The axial driving forces are opposite in direction and offset with each other, and the normal driving forces are the same, so that the ultrasonic motor rotor rotates reversely;
the in-phase excitation is changed into the reverse-phase excitation, and the ultrasonic motor is changed from the linear operation into the rotary operation; the reverse excitation is changed into the in-phase excitation, and the ultrasonic motor is changed from the rotary operation into the linear operation; under the same-phase excitation condition, the excitation mode is changed from that shown in figure 1 to that shown in figure 2, or from that shown in figure 2 to that shown in figure 1, and the linear running direction is reversed; under the condition of reverse excitation, the excitation mode is changed from that shown in FIG. 3 to that shown in FIG. 4, or from that shown in FIG. 4 to that shown in FIG. 3, and the rotating motion direction is reversed.
Claims (1)
1. A two-degree-of-freedom ultrasonic motor is characterized in that:
the motor comprises a stator, a rotor, an ultrasonic transducer and a vibration absorber, wherein the stator consists of two spiral structures, one is a left spiral stator, the other is a right spiral stator, the spiral direction of the left spiral stator is left-handed, the spiral direction of the right spiral stator is right-handed, and the two spiral stators are coaxial and symmetrically arranged; the rotor is of a tubular structure, and the outer diameter of the rotor is slightly smaller than the inner diameter of the stator spiral; the rotor passes through the two spiral interiors of the stator; the ultrasonic vibration absorber comprises a left spiral stator, a right spiral stator, an ultrasonic transducer, a vibration absorber, a right spiral stator, a left end and a right end, wherein a pin at one end of the left spiral stator is connected with the ultrasonic transducer, a pin at the other end of the left spiral stator is connected with the vibration absorber, a pin at one end of the right spiral stator is connected with the ultrasonic transducer, a pin at the other end of the right spiral stator is connected with the vibration absorber; the traveling wave is generated when one end of each of the two spiral stators is excited and the other end of each of the two spiral stators is vibrated, driving forces are respectively generated on the rotor, and the rotor operates in two degrees of freedom, namely linear motion and rotation, due to different combinations of the two groups of driving forces;
the driving method of the two-degree-of-freedom ultrasonic motor comprises the following steps:
when the two spiral stators are excited at the right end and absorb vibration at the left end, the rotor moves linearly and runs in the forward direction;
when the two spiral stators are excited at the left end and absorb vibration at the right end, the rotor moves linearly and runs reversely;
when the left end of the left spiral stator is excited and the right end is vibrated, the rotor rotates and runs in the forward direction when the right end of the right spiral stator is excited and the left end is vibrated;
the left spiral stator is excited by the right end and the left end is vibrated, and when the left end and the right end of the right spiral stator are vibrated, the rotor rotates and runs in the reverse direction.
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| CN201711335371.5A CN108448926B (en) | 2017-12-08 | 2017-12-08 | Two-degree-of-freedom ultrasonic motor and driving method thereof |
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| CN201711335371.5A CN108448926B (en) | 2017-12-08 | 2017-12-08 | Two-degree-of-freedom ultrasonic motor and driving method thereof |
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| CN108448926B true 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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