CN108681031A - A kind of micro-camera and its control method using ultrasonic step wave motor - Google Patents
A kind of micro-camera and its control method using ultrasonic step wave motor Download PDFInfo
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- CN108681031A CN108681031A CN201810886466.4A CN201810886466A CN108681031A CN 108681031 A CN108681031 A CN 108681031A CN 201810886466 A CN201810886466 A CN 201810886466A CN 108681031 A CN108681031 A CN 108681031A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 229920001971 elastomer Polymers 0.000 claims abstract description 36
- 239000000806 elastomer Substances 0.000 claims abstract description 36
- 239000000919 ceramic Substances 0.000 claims abstract description 27
- 230000005611 electricity Effects 0.000 claims description 20
- 210000000515 tooth Anatomy 0.000 description 39
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000005284 excitation Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
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- 238000004026 adhesive bonding Methods 0.000 description 1
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
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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
- H02N2/101—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using intermittent driving, e.g. step motors
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Abstract
The invention discloses a kind of micro-camera and its control method using ultrasonic step wave motor, the micro-camera using ultrasonic step wave motor includes：Motor cabinet, the stator being successively set on the motor cabinet, rotor, lens mount and the prepressing device for applying precompression to the lens mount；The stator includes elastomer and is arranged in the elastomer lower surface and for motivating the piezoelectric ceramic piece of stationary wave vibration, the piezoelectric ceramic piece lower surface is provided at least two electrodes；It is provided at least one Contact Tooth on the rotor, and is contacted with the upper surface of the elastomer by the Contact Tooth.It is powered in different ways by coordination electrode, the node after being superimposed using standing wave is located at the principle between two nodes before standing wave superposition, improves the automatic focusing precision of the micro-camera using ultrasonic step wave motor.
Description
Technical field
The present invention relates to supersonic motor field more particularly to a kind of Miniature phases using ultrasonic step wave motor
Machine.
Background technology
In recent years, domestic and foreign scholars attempt to realize with the matched mode of energisation mode by the design of special machine mechanism
Ultrasonic step wave motor.Theoretically, ultrasound electric machine pulse dynamic respond μm grade even nm grades, it is in the prior art, common
For supersonic motor using travelling wave motor, precision is insufficient, is unable to give full play the advantage of the high stepping accuracy of ultrasound electric machine,
Therefore it can not be applied to the miniature applications scene such as micro-camera, can not preferably realize the automatic focusing of micro-camera.
Therefore, the existing technology needs to be improved and developed.
Invention content
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, it is super to provide a kind of application stepping
The micro-camera and its control method of sound wave motor, it is intended to solve the relatively low nothing of ultrasonic step wave motor stepping accuracy in the prior art
Method is applied to the problem of micro-camera automatic focusing.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of micro-camera using ultrasonic step wave motor, wherein including：Motor cabinet is successively set on the motor cabinet
Stator, rotor, lens mount and to the lens mount apply precompression prepressing device；The stator include elastomer and
It is arranged in the elastomer lower surface and for motivating the piezoelectric ceramic piece of stationary wave vibration, the piezoelectric ceramic piece lower surface is set
It is equipped at least two electrodes；It is provided at least one Contact Tooth on the rotor, and passes through the Contact Tooth and the elastomer
Upper surface contact.
The micro-camera using ultrasonic step wave motor, wherein it further includes being located at the prepressing device and institute
State the lens mount between rotor；Column is provided on the motor cabinet, the lens mount is provided with to be stood for what the column passed through
Post holes, the lens mount can be slided up and down along the column.
The micro-camera using ultrasonic step wave motor, wherein the lower surface of the lens mount is provided with first
Curved surface, the upper surface of the rotor are provided with the second curved surface being adapted to the first surface.
The micro-camera using ultrasonic step wave motor, wherein the first surface and second curved surface are equal
In saddle.
The micro-camera using ultrasonic step wave motor, wherein be provided with camera lens on the lens mount.
The micro-camera using ultrasonic step wave motor, wherein the prepressing device includes and the motor cabinet
The shell of connection and the elastic component being located in the shell, the elastic component both ends respectively with the shell and the camera lens seated connection
It touches.
The micro-camera using ultrasonic step wave motor, wherein the motor cabinet bottom is provided with sensitive chip
And sensitive chip flexible PCB.
It is a kind of based on the micro-camera using ultrasonic step wave motor using the miniature of ultrasonic step wave motor
Camera control method, wherein including step：
Any one electrode at least two electrodes is controlled to be powered, with by any one electrode at least two electrodes to the rotor
It is driven；
When the rotation step number of the rotor reaches first predetermined value, controls any two electrode at least two electrodes and is powered,
To be driven to the rotor by any two electrode at least two electrodes.
The micro-camera control method using ultrasonic step wave motor, wherein at least two electrodes of the control
In any one electrode be powered, further include to carry out actuation step to the rotor by any one electrode at least two electrodes：
After controlling that the energization of any one electrode drives the rotor at least two electrodes, control adjacent electrode is powered pair
The rotor is driven.
The micro-camera control method using ultrasonic step wave motor, wherein the rotation in the rotor
When step number reaches first predetermined value, controls any two electrode at least two electrodes and be powered, with by least two electrodes
Any two electrode carries out driving to the rotor and specifically includes：
When the rotation step number of the rotor reaches first predetermined value, any two electrode leads to identical at least two electrodes of control
The electricity of voltage, to be driven to the rotor by any two electrode at least two electrodes；
When the rotation step number of the rotor reaches second predetermined value, the logical difference of any two electrode at least two electrodes is controlled
The electricity of voltage, to be driven to the rotor by any two electrode at least two electrodes.
Advantageous effect：Since the piezoelectric ceramic piece lower surface is provided at least two electrodes, control at least two can be passed through
Rotor described in a electrode drive is powered in different ways by coordination electrode, and the node after being superimposed using standing wave is folded positioned at standing wave
The principle between two nodes before adding improves the automatic focusing essence of the micro-camera using ultrasonic step wave motor
Degree.
Description of the drawings
Fig. 1 is the schematic diagram of the first standing wave in the present invention, the second standing wave and the first superposition standing wave.
Fig. 2 is the schematic diagram of the first standing wave in the present invention, third standing wave, the first superposition standing wave and the second superposition standing wave.
Fig. 3 is the explosive view of the micro-camera using ultrasonic step wave motor in the present invention.
Fig. 4 is the structural schematic diagram of the micro-camera using ultrasonic step wave motor in the present invention.
Fig. 5 is H-H in Fig. 4 to sectional view.
Fig. 6 is the structural schematic diagram of lens mount and camera lens in the present invention.
Fig. 7 is the structural schematic diagram of the longitudinal section of lens mount and camera lens in the present invention.
Fig. 8 is the structural schematic diagram of rotor in the present invention.
Fig. 9 is the structural schematic diagram of Contact Tooth in the present invention.
Figure 10 is the structural schematic diagram of motor cabinet in the present invention.
Figure 11 is the structural schematic diagram of stator in the present invention.
Figure 12 is the computer analog figure that stator excitation goes out 5 rank standing waves in the present invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
Please refer to Fig. 1-Figure 12, the present invention provides a kind of micro-cameras using ultrasonic step wave motor, including：
Motor cabinet 10, the stator being successively set on the motor cabinet 10, rotor 30, lens mount 100 and applies the lens mount 100
Add the prepressing device of precompression；The stator includes elastomer 20 and setting in 20 lower surface of the elastomer and for encouraging
Go out the piezoelectric ceramic piece 50 of stationary wave vibration, 50 lower surface of the piezoelectric ceramic piece is provided at least two electrodes 60；The rotor
It is provided at least one Contact Tooth 31 on 30, and is contacted with the upper surface of the elastomer 20 by the Contact Tooth 31.
Specifically, one electrode of generally use can motivate a kind of corresponding stationary wave vibration, naturally it is also possible to use one
Group electrode common activation goes out a kind of corresponding stationary wave vibration.Therefore, there are two types of modes for the division of electrode, one is：It is provided with more
A electrode, multiple electrodes are arranged in order, for example, electrode1, electrode2, electrode3, electrode4, electrode5, electrode6, electrode7, electrode8, electricity
Pole9It is successively set on piezoelectric ceramics on piece；The second is：It is provided with multi-group electrode, every group of electrode is all to be evenly arranged in piezoelectricity pottery
On tile, for example, electrode11, electrode21, electrode31, electrode12, electrode22, electrode32, electrode13, electrode23, electrode33, electrode14, electricity
Pole24, electrode34It is successively set on piezoelectric ceramics on piece, wherein electrode11, electrode12, electrode13, electrode14For first group of electrode, electricity
Pole21, electrode22, electrode23, electrode24For second group of electrode, electrode31, electrode32, electrode33, electrode34For second group of electrode.These
Electrode is divided into one group of group, and the electrode between each group and another group is spaced setting according to this, and according to the drive characteristic of electrode（This
It is the characteristic that electrode itself has, therefore needs to be designed use according to actual needs in design）, form stepper motor
Stepping accuracy.Certainly it by after multiple electrodes division group, can also be powered in such a way that single electrode motivates stationary wave vibration.
Specifically, the micro-camera using ultrasonic step wave motor carries out step-by-step operation using following steps：
The multi-group electrode on the piezoelectric ceramic piece 50 is controlled, at least each electrode is powered wherein at least in two arrays of electrodes, and one
As for, be to this group of electrode while to be powered, for realize stepping, need to be powered between each group electrode according to this, to pass through electrode
Any one electrode drives the rotor in 60.
When the rotation step number of the rotor reaches first predetermined value, any two adjacent electrode in the electrode 60 is controlled
It is powered, and the voltage that can according to actual needs or pre-set scheme, control adjacent electrode is different, to control driving step
Into step-length, driven by rotor described in any two adjacent electrode pair in electrode 60.
The accuracy of the stepper motor can understand in this way, it is assumed that it is special that all electrodes all use same specification excitation
The electrode of property（The electrode of different size can certainly be used, but controlling and design calculating can be more complicated）, then according to electrode
Drive characteristic can give adjacent electrode with scheduled identical driving voltage, and to motivate standing wave, which is in the adjacent electricity
Position between pole, and if cancelling the driving voltage of one of electrode at this time, motor can be by stepper drive to energization
Above electrode, in this way, being driven by the driving voltage of unit, so that it may to realize the accurate step-wise displacement of half way between electrode.Together
Sample, in drive control, provided that the driving voltage of two lateral electrodes is different, such as side 20%, the other side 80%, then stepping is electric
Chance be driven to two electrodes spacing, close to 80% electrode side about spacing 1/5th position, stepping at this time
The spacing control no half way of meeting and a complete electrode spacing are more accurate, however still can be as the control mode of stepper motor
It is achieved.
It is worth noting that be powered using single-phase alternating current coordination electrode 60, after the energization of electrode 60, piezoelectric ceramic piece 50
Vibration is generated, and motivates standing wave on elastomer 20, specifically motivates standing wave in the drive surface of elastomer 20.Standing wave one
A vibration period is known as single order, and a vibration period includes a wave crest and a trough, this two positions amplitude is maximum, vibration side
To opposite；One vibration period also includes the node that two amplitudes are zero, and several vibration weeks are distributed in the drive surface of elastomer 20
Phase had both been a few rank standing waves, and total standing wave node number in 20 drive surface of elastomer is twice of standing wave exponent number.The frequency of single-phase alternating current
Rate is consistent with the frequency of standing wave, then can adjust standing wave exponent number by changing the frequency of single-phase alternating current.The electricity of single-phase alternating current
The height of pressure determines the size of the amplitude of standing wave, and voltage is higher, and the amplitude of standing wave is bigger, and voltage is lower, and the amplitude of standing wave is smaller.
Standing wave exponent number has difference to the electrode of different size, is a kind of characteristic of electrode itself, as the same vibration
Elastic bar, the length of rod piece, thickness, density difference can have different vibration exponent number characteristics, but select a few rank standing waves to be
It is related with the voltage of excitation.That is, although electrode can have the characteristic of different rank, several ranks that can be finally formed are stayed
Wave is related with the frequency and amplitude of excitation.It, can be by taking foregoing elastic bar as an example, when using not for convenience of understanding
The vibration of same frequency to it into row energization when, may eventually form the standing wave of single order, second order, three ranks ... etc. different rank, but
For a determining elastic bar, formed the single order, second order, three rank ... different ranks the Optimum Excitation of standing wave shake
Dynamic frequency（Namely resonant frequency）It is to determine.The stepper motor of the present invention is exactly the different rank standing wave institute that electrode is utilized
The driving voltage needed realizes step function to control.
Below in the way of being provided with multiple electrodes for illustrate, the mode for being provided with multi-group electrode is referred to set
It is equipped with the mode of multiple electrodes.
First, before the energization of electrode 60, Contact Tooth 31 is in initial position, and initial position here can be described turn
The initial position of 30 rotation of son, can also be any position.As shown in Figure 1, when any one electricity at least two electrodes 60 of control
Pole 60（It is denoted as first electrode）When energization, piezoelectric ceramic piece 50 generates vibration, and first to be motivated on elastomer 20 is stayed
Wave 1（For the convenience of description, Fig. 1 and Fig. 2 only show the vibrational waveform at standing wave moment）.What Contact Tooth 31 can not be stablized is parked in
The position that one standing wave, 1 amplitude is not zero, what can only be stablized is located in the node location A of the first standing wave, thus Contact Tooth 31 is by first
Node location A displacement namely rotor 30 of the beginning position to the first standing wave rotate, and are then ready for step-by-step operation.Rotor at this time
The angle of 30 rotations is related with the initial position of Contact Tooth 31, not necessarily has rotated one " step angle ".Certainly, Contact Tooth
31 initial position is just the node location A of the first standing wave, then Contact Tooth 31 is not subjected to displacement namely rotor 30 does not rotate.
Secondly, when controlling another electrode 60 at least two electrodes 60（It is denoted as second electrode）When energization, piezoelectric ceramic piece
50 generate vibration, and the second standing wave 2 to be motivated on elastomer 20, the node location B of the second standing wave is stayed relative to first
The node location A of wave is changed on spatial position, thus Contact Tooth 31 is stayed from the node location A of the first standing wave to second
The node location B displacements of wave namely the rotation of rotor 30 continue step-by-step operation.When being powered successively to each electrode, for example, according to
It is secondary when being powered to first electrode and second electrode, the ultrasonic step wave electrode stepping may be implemented.Usual first standing wave 1 shakes
The amplitude of width and the second standing wave 2 is consistent, node location B of the Contact Tooth 31 from the node location A of the first standing wave to the second standing wave, this
When rotor 30 rotate angle be one " step angle ".The amplitude of the amplitude of certain first standing wave 1 and the second standing wave 2 can not also
It is identical.
More specifically, it controls any two electrode 60 at least two electrodes 60 to be powered, for example, controlling first electrode simultaneously
It is powered with second electrode, has spatial position poor in the stepper motor rotation direction between each electrode, at this time the first standing wave 1
It is overlapped to form the first superposition standing wave with the second standing wave 2, the node location C of the first superposition standing wave is located at the node of the first standing wave
Between position A and the node location B of the second standing wave, 31 displacement of Contact Tooth is stayed by the superpositions of node location A to first of the first standing wave
The node location C of wave, the angle that rotor 30 rotates at this time is less than a step angle, therefore the stepping accuracy of the rotor 30 obtains
It improves.If the amplitude of the amplitude of the first standing wave 1 and the second standing wave 2 is consistent, the node location C of the first superposition standing wave is stayed positioned at first
Centre position between the node location A of wave and the node location B of the second standing wave, the then angle that rotor 30 rotates are half of step pitch
Angle.
Micro-camera provided by the invention using ultrasonic step wave motor, since 50 lower surface of the piezoelectric ceramic piece is set
At least two electrodes 60 are equipped with, the rotor 30 can be driven by controlling at least two electrodes 60, improved described using stepping
The automatic focusing precision of the micro-camera of supersonic motor.
In a specific embodiment of the present invention, please referring also to Fig. 3, Fig. 5, Fig. 8-Fig. 9, the rotor 30 include side plate
33, the side plate 33 is in central column, and the Contact Tooth 31 is set to the bottom of the side plate 33.Specifically, the outer diameter of side plate 33
It is consistent with the outer diameter of elastomer 20.Contact Tooth 31 is contacted with the upper surface of elastomer 20, and contact point is distributed in elastomer 20
The outer rim of upper surface.Contact Tooth 31 is arranged in the lower surface of side plate 33, and the number of Contact Tooth 31 can be one or more, if connecing
It is multiple to touch tooth 31（The number of usual Contact Tooth 31 is the approximate number of number of nodes, for example, as shown in figure 12, when number of nodes is 10,
Contact Tooth 31 could be provided as 1,2,5 or 10）, multiple Contact Tooths 31 are evenly distributed in 20 upper surface of elastomer
Outer rim can obtain larger at this time preferably, the number of Contact Tooth 31 is consistent with the number of nodes of standing wave that electrode 60 encourages
Driving force.
More specifically, Contact Tooth 31 is provided with the bottom surface 311 contacted with elastomer 20 and along the two of 20 radial direction of elastomer
A first side 312,312 rounding off of bottom surface 311 and first side.Certain Contact Tooth 31 is along elastomer 20 circumferential two the
Two side faces 313 may be set to be rounding off with bottom surface 311.
In a specific embodiment of the present invention, please refer to Fig. 3-Fig. 8, it is provided with column 18 on the motor cabinet 10,
The lens mount 100 is provided with the leghole passed through for the column 18, and the lens mount 100 can glide on the column 18
It is dynamic.The lower surface of the lens mount 100 is provided with first surface 110, the upper surface of the rotor 30（The specially side plate 33
Upper surface）It is provided with the second curved surface 37 being adapted to the first surface 110.The prepressing device includes and the motor cabinet
10 connection shells 43 and the elastic component 42 in the shell 43,42 both ends of the elastic component respectively with the shell 43 and
The lens mount 100 contacts.
Specifically, please refer to Fig. 6-Fig. 8, the first surface 110 and second curved surface 37 are in saddle, this
In saddle refer to horse-saddle low between the senior middle school of both ends, that is, include two symmetrical recess portions and two symmetrical protrusions.
Under original state, the first surface 110 fits with second curved surface 37, i.e. the recess portion of the side plate 33 and the camera lens
The protrusion contact of seat 100, the protrusion of the side plate 33 are contacted with the recess portion of the lens mount 100, are in plane-plane contact state.Work as institute
Rotor 30 is stated to rotate（It rotates in the horizontal direction）When, since the lens mount 100 can only be slided up and down vertically, nothing
Method rotates in the horizontal direction, and the first surface 110 can not be bonded completely with second curved surface 37, thus the lens mount
100 understand vertically upward sliding, until the protrusion of the side plate 33 is contacted with the protrusion of the lens mount 100, then it is in point
Point contact state.
More specifically, being provided with camera lens 200 on the lens mount 100,10 bottom of the motor cabinet is provided with sensitive chip
300 and sensitive chip flexible PCB 400（As shown in Figure 3-Figure 5）, with the rotation of rotor 30, the camera lens is adjusted
200 height relative to the sensitive chip 300, to achieve the purpose that focusing.The camera lens 200 and the lens mount 100
Using threaded connection, the camera lens 200 and 100 gluing of lens mount can be fixed when the camera lens 200 is in zero-bit.
As shown in Figure 10, four angles of the motor cabinet 10 are separately positioned on there are four the columns 18 certainly.The bullet
Property part 42 to use spring, the spring be four, be respectively sleeved on four columns 18, the diameter of the spring is more than institute
The diameter of leghole is stated, the both ends of the spring is contacted with the shell 43 and the lens mount 100 respectively, and the elastic component 42 carries
The precompression for keeping the lens mount 100 downward for one.200 corresponding position of the camera lens is provided with first on the motor cabinet 10
Through-hole 19, light may pass through the camera lens 200 and reaches the sensitive chip 300.
Specifically, shell 43 can be such that elastic component 42 deforms upon, and impose precompression to rotor 30, to make rotor 30
There is precompression to stator.It is of course possible to which precompressed nut is arranged, the precompressed nut is threadedly coupled with the column 18, specifically
Ground, 18 lateral surface of the column are provided with external screw thread, and precompressed nut medial surface is provided with internal thread corresponding with external screw thread, passes through
Rotor 30 can be changed to the size of stator precompression by adjusting precompressed nut, and precompression is too small, then causes output torque insufficient, in advance
Pressure is too big, then substantially reduces the amplitude of the standing wave of stator, and output torque is still insufficient.Ultrasonic step wave is applied in different
There is best precompressed force value under the micro-camera of motor and different usage scenarios.
As shown in figure 11, elastomer 20 is usually in circular ring shape, and piezoelectric ceramic piece 50 is also in circular ring shape and is fixed at bullet
The lower surface of property body 20.The outer diameter of piezoelectric ceramic piece 50 is consistent with the outer diameter of elastomer 20, and the internal diameter of piezoelectric ceramic piece 50 is more than
Or internal diameter equal to elastomer 20 namely piezoelectric ceramic piece 50 are distributed in 20 outer rim of elastomer.Each electrode 60 is in sector, and
The size and shape of each electrode 60 can be identical, can not also be identical, the size and shape of each electrode 60 in the present embodiment
Shape is identical.Certainly, each electrode 60 can also be in other shapes, such as annular.Each electrode 60 is evenly distributed on the piezoelectric ceramics
50 lower surface of piece.20 outer rim of elastomer generates deformation under the drive of piezoelectric ceramic piece 50, and 20 inner edge of elastomer not will produce
Deformation.As shown in figure 12, the outer rim of elastomer 20 generates deformation and forms 5 rank standing waves, and the Oscillation Amplitude of 20 outer rim of elastomer is larger,
And inner edge vibration is smaller, does not vibrate substantially.The lower surface of the electrode 60 is provided with motor flexible circuit board 90（Such as Fig. 3-
Shown in Fig. 5）, each electrode 60 passes through motor flexible circuit board 90 and power supply（It is not shown in figure）Connection.
The present invention also provides a kind of, and the application stepping based on the micro-camera using ultrasonic step wave motor is super
The preferred embodiment of the micro-camera control method of sound wave motor：
It is a kind of described in the embodiment of the present invention that ultrasonic step is applied based on the micro-camera using ultrasonic step wave motor
The micro-camera control method of wave motor, includes the following steps：
Step S100, it controls any one electrode 60 at least two electrodes 60 to be powered, with by arbitrary at least two electrodes 60
One electrode 60 drives the rotor 30.
Specifically, before the energization of electrode 60, Contact Tooth 31 is in initial position, and initial position here can be described
The initial position that rotor 30 rotates, can also be any position.When controlling any one electrode 60 at least two electrodes 60（It is denoted as
First electrode）When energization, piezoelectric ceramic piece 50 generates vibration, the first standing wave 1 to be motivated on elastomer 20.Contact Tooth
31 positions for being parked in 1 amplitude of the first standing wave and being not zero that can not stablize, what can only be stablized is located in the node location of the first standing wave
A, thus node location A displacement namely rotor 30 of the Contact Tooth 31 from initial position to the first standing wave rotate, and are then ready for
Step-by-step operation.The angle that rotor 30 rotates at this time is related with the initial position of Contact Tooth 31, not necessarily has rotated " a step
Elongation ".Certainly, the initial position of Contact Tooth 31 is just the node location A of the first standing wave, then Contact Tooth 31 is not subjected to displacement,
Namely rotor 30 does not rotate.
Step S100 further includes：
After controlling at least two electrodes 60 energization of any one electrode 60 and being driven to the rotor 30, adjacent electrode is controlled
60, which are powered, drives the rotor 30.
Specifically, it is powered using single-phase alternating current coordination electrode 60, naturally it is also possible to be handed over using two-phase alternating current or multiphase
Galvanic electricity.When using two electrodes 60, two electrodes 60 are powered successively according to distributing position namely two electrodes 60 are alternately logical
Electricity makes the rotor 30 continue stepping rotation.When using multiple electrodes 60（More than two electrodes 60）When, multiple electrodes 60 according to
Distributing position is powered successively, and the rotor 30 is made to continue stepping rotation.For example, 5 rank standing waves have 10 nodes, it can be by 360 °
It is divided into 36 °, and each electrode 60 can generate corresponding 5 rank standing wave, and there is corresponding 10 nodes, due to 9 electrodes 60
Have spatial position poor on elastomer 20, this 9 electrodes 60 can continue to be divided into 4 ° by 36 °, therefore, successively to 9 electrodes
When 60 energization, the minimum rotation angle that can be obtained is 4 °.Certainly it can not also be powered successively here, in electrode1After energization,
To electrode6It being powered, then the angle that rotor 30 rotates is 20 °, and the purpose of this programme is to reduce the angle that rotor 30 rotates, because
This, by the way of being powered successively.
When controlling another electrode 60 at least two electrodes 60（It is denoted as second electrode）When energization, piezoelectric ceramic piece 50 generates
Vibration, to the second standing wave 2 for being motivated on elastomer 20, the section of the node location B of the second standing wave relative to the first standing wave
Point position A is changed, thus node location B displacement of the Contact Tooth 31 from the node location A of the first standing wave to the second standing wave,
Namely the rotation of rotor 30 continues step-by-step operation.When being powered successively to first electrode and second electrode, the step may be implemented
Into 60 stepping of ultrasonic electrode.Node location B of the Contact Tooth 31 from the node location A of the first standing wave to the second standing wave, turns at this time
The angle of 30 rotation of son is one " step angle ".The amplitude of the amplitude of certain first standing wave 1 and the second standing wave 2 can not also be complete
Identical, then the angle that Contact Tooth 31 rotates every time is different.
Step S200, it when the rotation step number of the rotor 30 reaches first predetermined value, controls at least two electrodes 60
Any two electrode 60 is powered, to be driven to the rotor 30 by any two electrode 60 at least two electrodes 60.
Specifically, step S200 is specifically included：
Step S210, it when the rotation step number of the rotor 30 reaches first predetermined value, controls arbitrary at least two electrodes 60
Two electrodes 60 lead to the electricity of identical voltage, to be carried out to the rotor 30 by any two electrode 60 at least two electrodes 60
Driving.
Specifically, first predetermined value can be preset, and can be 0,1,2 to n integer.Here first predetermined value is
0, refer to not carrying out step S100, directly carries out step 200.When controlling, any two electrode 60 at least two electrodes 60 is logical
When the electricity of identical voltage, for example, be powered as shown in Fig. 2, controlling first electrode and second electrode simultaneously, 1 He of the first standing wave at this time
Second standing wave 2 is overlapped to form the first superposition standing wave, and the node location C of the first superposition standing wave is located at the node position of the first standing wave
Set the point midway between A and the node location B of the second standing wave（As shown in Figure 1）, 31 displacement of Contact Tooth by the first standing wave section
Point position A to first is superimposed the node location C of standing wave, and the angle that rotor 30 rotates at this time is less than a step angle, therefore described
The stepping accuracy of rotor 30 is improved.When two electrodes 60 lead to the electricity of identical voltage, the amplitude and the second standing wave of the first standing wave 1
2 amplitude is consistent, and since first electrode is different with the spatial position of second electrode, the standing wave that the two is formed has spatial position
Difference, the node location A of certain first standing wave and the node location B of the second standing wave are misaligned.Due to the amplitude of the first standing wave 1 and
The amplitude of two standing waves 2 is consistent, and the node location C of the first superposition standing wave is located at the node location A and the second standing wave of the first standing wave
Centre position between node location B.Here, in order to reduce the angle of the rotation of rotor 30, the is controlled in carrying out step S100
After one electrode makes Contact Tooth 31 be located in the node location A of the first standing wave, then control first electrode and and first electrode simultaneously
Adjacent electrode, at this time relative to the node location A of the first standing wave, the angle that rotor 30 rotates is half of step angle（It is stayed with 5 ranks
Wave and 9 electrodes calculate, and half of step angle is 2 °）.Non-conterminous two electrodes can certainly be controlled, for example, first control electricity
Pole 1 makes rotor rest on after corresponding node location, while coordination electrode 1, electrode 4（It is equivalent to while controlling adjacent electricity
Pole 2, electrode 3）, at this point, the angle that rotor 30 rotates is 1.5 step angles（It is calculated with 5 rank standing waves and 9 electrodes, 1.5 steps
Elongation is 6 °）.
Step S220, it when the rotation step number of the rotor 30 reaches second predetermined value, controls at least two electrodes 60
Any two electrode 60 leads to the electricity of different voltages, with by any two electrode 60 at least two electrodes 60 to the rotor 30
It is driven.
Specifically, second predetermined value can be preset, and can be 0,1,2 to n integer.Here second predetermined value is
0, refer to not carrying out step S210, directly carries out step 220.When controlling, any two electrode 60 at least two electrodes 60 is logical
Differ voltage（Here the amplitude that different voltage simply means to voltage is different, and frequency is identical）Electricity when, such as
It controls first electrode and second electrode simultaneously to be powered, at this point, first electrode motivates the first standing wave 1, second electrode motivates the
Three standing waves 3.First standing wave 1 and third standing wave 3 are overlapped to form the second superposition standing wave, and the amplitude of third standing wave 3 is less than the
The amplitude of one standing wave 1, the node location E of the second superposition standing wave are located at the node of the node location A and third standing wave of the first standing wave
Between the D of position, 31 displacement of Contact Tooth is superimposed the node location E of standing wave by the node location A to second of the first standing wave, at this time rotor
The angle of 30 rotations is less than half of step angle, therefore the stepping accuracy of the rotor 30 is further improved.Two electrodes
60 it is logical the amplitude of first standing wave 1 and the amplitude of third standing wave 3 are inconsistent when differing the electricity of voltage, for example, third standing wave 3
Amplitude is the half of the amplitude of the first standing wave 1.Since first electrode is different with the spatial position of second electrode, what the two was formed stays
Wave has spatial position poor, and the node location A of certain first standing wave and the node location D of third standing wave are misaligned.Due to first
The amplitude of standing wave 1 and the amplitude of third standing wave 3 are inconsistent, and the amplitude of third standing wave 3 be less than the first standing wave 1 amplitude, second
The node location E of superposition standing wave is located between the node location A and the node location D of third standing wave of the first standing wave（Such as Fig. 2 institutes
Show）, specifically, the node location E of the second superposition standing wave is located at the node of the superposition standing waves of node location A and first of the first standing wave
Between the C of position, then the angle that rotor 30 rotates is less than half of step angle.Certainly, if the amplitude of the first standing wave 1 is less than third standing wave
3 amplitude, the node location E of the second superposition standing wave are located at the node position of the node location C and third standing wave of the first superposition standing wave
Between setting D, then the angle that rotor 30 rotates is more than half of step angle and is less than a step angle, can be arranged as required to standing wave
Amplitude, control rotor 30 rotate angle.It is adjacent using control two simultaneously of course for the rotational angle for reducing rotor 30
Electrode, when the amplitude of third standing wave 3 is less than the amplitude of the first standing wave 1, the angle that rotor 30 rotates is 0 ° to half step angle
Between the number of degrees（It is calculated with 5 rank standing waves and 9 electrodes, the angle that rotor 30 rotates at this time is a certain angle between 0 ° -2 °）.
Two non-conterminous electrodes can certainly be controlled simultaneously.
In order to further reduce the angle of the rotation of rotor 30, piezoelectric ceramic piece 50 can be increased and motivate staying for stationary wave vibration
The exponent number of wave increases number of poles.
In conclusion the present invention realizes a kind of micro-camera and its control method using ultrasonic step wave motor, it is described
Micro-camera using ultrasonic step wave motor includes：It is successively set on stator on motor cabinet, rotor, lens mount and to institute
State the prepressing device that lens mount applies precompression；The stator lower surface is provided with piezoelectric ceramic piece, the piezoelectric ceramics under piece
Surface is provided at least two electrodes；Be provided at least one Contact Tooth on the rotor, and by the Contact Tooth with it is described
The upper surface of elastomer contacts.It is powered in different ways by coordination electrode, the node after being superimposed using standing wave is folded positioned at standing wave
The principle between two nodes before adding improves the automatic focusing essence of the micro-camera using ultrasonic step wave motor
Degree.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of micro-camera using ultrasonic step wave motor, which is characterized in that including：Motor cabinet is successively set on described
Stator, rotor, lens mount on motor cabinet and the prepressing device to lens mount application precompression；The stator includes bullet
Property body and be arranged in the elastomer lower surface and for motivating the piezoelectric ceramic piece of stationary wave vibration, the piezoelectric ceramic piece
Lower surface is provided at least two electrodes；It is provided at least one Contact Tooth on the rotor, and passes through the Contact Tooth and institute
State the upper surface contact of elastomer.
2. the micro-camera according to claim 1 using ultrasonic step wave motor, which is characterized in that on the motor cabinet
It is provided with column, the lens mount is provided with the leghole passed through for the column, and the lens mount can be above and below the column
Sliding.
3. the micro-camera according to claim 2 using ultrasonic step wave motor, which is characterized in that the lens mount
Lower surface is provided with first surface, and the upper surface of the rotor is provided with the second curved surface being adapted to the first surface.
4. the micro-camera according to claim 3 using ultrasonic step wave motor, which is characterized in that the first surface
It is in saddle with second curved surface.
5. the micro-camera according to claim 2 using ultrasonic step wave motor, which is characterized in that on the lens mount
It is provided with camera lens.
6. the micro-camera according to claim 2 using ultrasonic step wave motor, which is characterized in that the prepressing device
Include the shell being connect with the motor cabinet and the elastic component being located in the shell, the elastic component both ends respectively with it is described outer
Shell and lens mount contact.
7. the micro-camera according to claim 1 using ultrasonic step wave motor, which is characterized in that motor cabinet bottom
Portion is provided with sensitive chip and sensitive chip flexible PCB.
8. a kind of applying ultrasonic step wave motor based on the micro-camera described in claim 1 using ultrasonic step wave motor
Micro-camera control method, which is characterized in that including step：
Any one electrode at least two electrodes is controlled to be powered, with by any one electrode at least two electrodes to the rotor
It is driven；
When the rotation step number of the rotor reaches first predetermined value, controls any two electrode at least two electrodes and is powered,
To be driven to the rotor by any two electrode at least two electrodes.
9. the micro-camera control method according to claim 8 using ultrasonic step wave motor, which is characterized in that described
It controls any one electrode at least two electrodes to be powered, to carry out the rotor by any one electrode at least two electrodes
Actuation step further includes：
After controlling that the energization of any one electrode drives the rotor at least two electrodes, control at least two electrodes
Other electrode energizations drive the rotor.
10. the micro-camera control method according to claim 8 using ultrasonic step wave motor, which is characterized in that institute
It states when the rotation step number of the rotor reaches first predetermined value, controls any two electrode at least two electrodes and be powered, with
Driving is carried out by any two electrode at least two electrodes to the rotor to specifically include：
When the rotation step number of the rotor reaches first predetermined value, any two electrode leads to identical at least two electrodes of control
The electricity of voltage, to be driven to the rotor by any two electrode at least two electrodes；
When the rotation step number of the rotor reaches second predetermined value, the logical difference of any two electrode at least two electrodes is controlled
The electricity of voltage, to be driven to the rotor by any two electrode at least two electrodes.
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| CN108832837A (en) * | 2018-08-06 | 2018-11-16 | 深圳市三阶微控实业有限公司 | A kind of ultrasonic step wave electric motor and controller method |
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| CN108681031B (en) | 2023-10-27 |
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