CN108880322B - Rotary traveling wave ultrasonic motor adopting brand-new precompression application mode - Google Patents
Rotary traveling wave ultrasonic motor adopting brand-new precompression application mode Download PDFInfo
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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
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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
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Abstract
The invention relates to a rotary traveling wave ultrasonic motor adopting a brand-new pre-pressure application mode, which comprises a rigid rotor assembly, wherein one side of the rigid rotor assembly is arranged on a motor base through a bearing, and a stator assembly, a stator support frame and a pre-pressure shell are sequentially arranged on the other side of the rigid rotor assembly; the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence; the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected; a wave spring is also arranged between the precompression shell and the stator support frame; the invention has the advantages of large hollow duty ratio, high overload resistance, good low-speed stability, good low-temperature starting performance and the like, and the consistency of the output performance of the motor in the whole service life period is good; the application of the hollow ultrasonic motor in the occasion of large hollow duty ratio is expanded, such as driving a lens and a wave plate in the optical lens with large hollow duty ratio.
Description
Technical Field
The invention relates to a rotary traveling wave ultrasonic motor adopting a brand-new pre-pressure application mode, and belongs to the technical field of ultrasonic motors.
Background
Various hollow rotary traveling wave ultrasonic motors in the prior art lack a hollow rotary traveling wave ultrasonic motor with a large hollow duty ratio and a large torque ratio.
In the prior art, the stator assembly and the structure of the ultra-large hollow duty ratio rotary traveling wave ultrasonic motor with the annular stator without the web structure are shown in figure 1. The hollow ultrasonic motor with the annular stator and the web-free structure at least comprises a metal or plastic shell for limiting the circumferential rotation of the stator, a wave spring or a disc spring for applying precompression, a rotor, a roller or a ball for the rotor and the like, wherein the stator of the hollow ultrasonic motor is usually in a suspension form, the stator is pressed on the rotor, the rotor is pressed on the roller or the ball, the wave spring is pressed on one surface of the stator, which is attached with a piezoelectric ceramic piece, and the stator penetrates into a stator tooth slot through a bulge on the shell in the circumferential direction to limit the freedom degree of the stator, but still has certain displacement capability in the axial direction. The rotary traveling wave ultrasonic motor with the ultra-large hollow duty ratio has been successfully applied to lenses such as Canon, nikon, marble, binde, sony, olympus and the like, and can run rapidly, stably and noiseless under small moment. The defects are that: the stator positioning mechanism is complex; the manufacturing and mounting technical requirements of the roller or the ball are high; the motor cannot provide a large torque, and the torque is relatively low.
In the prior art, a hollow rotary traveling wave ultrasonic motor with a web structure in a stator, such as a hollow ultrasonic motor (CN 202696502U), a high-reliability high-stability hollow rotary traveling wave ultrasonic motor (CN 103219917A), a high-precision thin-wall hollow traveling wave ultrasonic motor (CN 107769609A), a threaded hollow rotary traveling wave ultrasonic motor (CN 102751906A), a hollow ultrasonic motor (CN 203872083U) for limiting the contact precompression of a stator and a rotor, and the like. The stators of the hollow ultrasonic motors in the prior art generally adopt a structure with a web plate, and the web plate is fixed on a stator seat in a screw or thread mode; the rotor commonly adopts a flexible structure (also adopts a mode that a rigid structure is fixed on a rotating shaft through screws, such as a structure adopted in a patent of high-precision thin-wall hollow traveling wave ultrasonic motor); the bearing is extruded through the shell, then the stator or the rotor is extruded through the bearing, and the pre-pressure is provided through the deformation of the flexible rotor and the stator web. The existing hollow rotary ultrasonic motor with the stator having the web structure has a large output torque compared with a rotary traveling wave ultrasonic motor with an oversized hollow duty ratio of an annular stator having no web structure, but has a plurality of defects: firstly, because the stator is fixed by adopting a screw or thread mode, the diameter of a through hole in the motor cannot be designed to be large, so that the overall hollow duty ratio of the motor is still smaller, and the motor cannot be used in some application occasions requiring larger through holes; secondly, because the pre-compression force is mainly provided by the deformation of the flexible rotor or stator web, the structural design and rigidity design requirements on the flexible rotor or stator web are higher, and the design difficulty is higher; thirdly, because the deformation provided by the stator and the rotor is usually smaller, the abrasion of the friction material is extremely sensitive to the influence of the pre-compression, and the pre-compression of the motor is obviously changed after the friction material is abraded, so that the output performance of the motor at the end of the service life is extremely obviously reduced due to the abrasion of the friction material.
Solid shaft rotary traveling wave ultrasonic motors with web structures in the prior art, such as rotary traveling wave ultrasonic motors (CN 201742324U), vibration wave motor (US 4937488A), rotary traveling wave ultrasonic motors with nut-adjusted precompression (CN 102223104A), an open type high overload rotary traveling wave ultrasonic motor (CN 204408215U), and the like. In the prior art, all solid shaft-out rotary ultrasonic motors are provided, and a stator is generally arranged on a stator seat or a base in a screw fixing mode; rotors generally have larger webs and flexible structural features; although there are various structures or modes for applying the pre-compression, the pre-compression is provided by the deformation of the rotor and the stator (the pre-compression is provided by the deformation of the flexible rotor, the pre-compression is provided by the deformation of the stator web, and the pre-compression is provided by the deformation of the flexible rotor and the stator together). The existing solid shaft rotary traveling wave ultrasonic motor with the stator web structure is very popular, and is successfully applied to the aspects of automobiles (steering wheel booster systems), medical injection (nuclear magnetic resonance meters), aerospace (Chang III in China) and the like, but has the defects: firstly, because the rotor is usually designed into a flexible web structure, and is easy to fatigue crack under the influence of high-frequency vibration of the stator, vibration damping rubber is also usually arranged on the rotor web to reduce the vibration of the rotor web; secondly, the pre-compression force is mainly provided by the deformation of the flexible rotor or stator web, so that the structural design and rigidity design requirements on the flexible rotor or stator web are higher, and the design difficulty is higher; thirdly, because the deformation provided by the stator and the rotor is usually smaller, the abrasion of the friction material is extremely sensitive to the influence of the pre-compression, and the pre-compression of the motor is obviously changed after the friction material is abraded, so that the output performance of the motor at the end of the service life is extremely obviously reduced due to the abrasion of the friction material.
Disclosure of Invention
The invention provides a rotary traveling wave ultrasonic motor adopting a brand-new pre-pressure application mode, which has the advantages of large hollow duty ratio, high overload resistance, good low-speed stability, good low-temperature starting performance and the like, and the consistency of the output performance of the motor is good in the whole service life period; the application of the hollow ultrasonic motor in the occasion of large hollow duty ratio is expanded, such as driving a lens and a wave plate in the optical lens with large hollow duty ratio.
The technical scheme adopted for solving the technical problems is as follows:
the rotary traveling wave ultrasonic motor adopting a brand new precompression application mode comprises a rigid rotor assembly, wherein one side of the rigid rotor assembly is arranged on a motor base through a bearing, and a stator assembly, a stator support frame and a precompression shell are sequentially arranged on the other side of the rigid rotor assembly;
the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected;
the method comprises the steps that a counter weight cylinder is arranged on an inner web plate of a stator along the circumference of the stator, a stator support frame is fixed on the counter weight cylinder on one side of the inner web plate of the stator opposite to a piezoelectric ceramic plate through gluing or interference fit, at least one groove is formed in the circumference of the inner ring of the stator support frame, at least one boss is arranged on the circumference of the inner ring of a pre-compression shell, the number and the forming positions of the grooves are matched with those of the bosses, and the bosses on the inner circumference of the pre-compression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and a stator assembly in the circumferential direction;
a wave spring is also arranged between the precompression shell and the stator support frame; and a wire outlet is formed in the side surface of the pre-pressure shell, the PCB is installed and fixed on the pre-pressure shell by using screws, and the PCB is in butt joint with the electric interface. The method comprises the steps of carrying out a first treatment on the surface of the
As a further preferred aspect of the present invention, the present invention further comprises a dust cover installed between the rigid rotor and the stator, which is fixed on the stepped hole formed on the inner circumference of the rigid rotor by gluing or interference fit;
the end face of the dustproof cover, which is opposite to the stator, is provided with a first annular concave-convex structure, the inner web plate of the stator is provided with a counterweight cylinder which is distributed along the circumference of the stator, the two ends of the counterweight cylinder are respectively higher than the inner web plate of the stator, and the length of the inner web plate of the stator, which is opposite to the piezoelectric ceramic plate, is longer than the length of the inner web plate of the stator, which is opposite to the rigid rotor;
the end face of the counterweight cylinder, which is opposite to the rigid rotor, is provided with a second annular concave-convex structure along the circumference of the stator, and the second annular concave-convex structure is in clearance fit with the first annular concave-convex structure, so that a labyrinth structure is formed when the stator and the dust cover are integrated;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
as a further preferred aspect of the present invention, the rigid rotor is integrally formed with the shaft, and the motor is in a single-output shaft form; the disc of the rigid rotor is of a rigid structure, the outer circumference of the disc is provided with an annular surface for adhering the friction plate, and the inner circumference of the disc is provided with a stepped hole for fixedly installing the dust cover;
the end face of the dust cover, which is opposite to the rigid rotor, is of a ladder structure, is matched with a ladder hole formed in the inner circumference of the rigid rotor, and the dust cover is fixed on the rigid rotor through gluing or interference fit;
as a further preferred mode of the invention, three evenly-distributed grooves are formed on the circumference of the inner ring of the stator support frame, three evenly-distributed bosses are arranged on the circumferential surface of the inner ring of the precompression shell, the grooves are matched with the formed positions of the bosses, and the bosses on the inner circumference of the precompression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction;
as a further preferred aspect of the present invention, the two ends of the counterweight cylinder disposed along the circumference of the stator on the inner web plate of the stator are respectively higher than the inner web plate of the stator, and the length of the inner web plate extending out of the stator relative to the piezoelectric ceramic plate is longer than the length of the inner web plate extending out of the stator relative to the rigid rotor;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
as a further preferred aspect of the present invention, the rigid rotor is integrally formed with the shaft, and the motor is in a double-output shaft form; the integrally formed rigid rotor is in clearance fit with the stator, the stator support frame and the precompression shell; the disc of the rigid rotor is of a rigid structure, and the outer circumference of the disc is provided with an annular surface for adhering the friction plate;
as a further preferred mode of the invention, three evenly-distributed grooves are formed on the circumference of the inner ring of the stator support frame, three evenly-distributed bosses are arranged on the circumferential surface of the inner ring of the precompression shell, the grooves are matched with the formed positions of the bosses, and the bosses on the inner circumference of the precompression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction;
as a further preferred aspect of the present invention, an invaginated circumferential cylindrical surface is formed on one side of the pre-pressure housing opposite to the stator support frame, and the circumferential cylindrical surface is in clearance fit with the outer circumferential side surface of the stator support frame, so that the stator support frame and the stator assembly are limited to bouncing in the radial direction;
a channel for storing heat-conducting silica gel or heat-conducting silicone grease is formed on the cylindrical surface along the side surface of the outer circumference of the stator support frame;
the shaft of the rigid rotor assembly is of a hollow structure;
as a further preferred aspect of the present invention, an invaginated circumferential cylindrical surface is formed on one side of the pre-pressure housing opposite to the stator support frame, and the circumferential cylindrical surface is in clearance fit with the outer circumferential side surface of the stator support frame, so that the stator support frame and the stator assembly are limited to bouncing in the radial direction;
a channel for storing heat-conducting silica gel or heat-conducting silicone grease is formed on the cylindrical surface along the side surface of the outer circumference of the stator support frame;
the rigid rotor assembly is separated from the shaft and sleeved on the solid shaft;
a bearing is arranged at the contact position of the precompression shell and the shaft;
as a further preferred mode of the invention, three evenly-distributed grooves are formed in the inner ring circumference of the stator support frame, three evenly-distributed bosses are arranged on the inner ring circumference of the pre-pressure shell, the bosses are vertically distributed with the inner ring circumference, the grooves are matched with the forming positions of the bosses, and the bosses on the inner circumference of the pre-pressure shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
compared with the existing rotary traveling wave ultrasonic motor with the ultra-large hollow duty ratio of the annular stator and without a web plate structure, the rotary traveling wave ultrasonic motor has the advantages that a larger torque volume ratio is obtained on the premise of sacrificing less hollow duty ratio;
compared with the existing hollow rotary traveling wave ultrasonic motor with a stator with a web structure, the hollow rotary traveling wave ultrasonic motor with the web structure has larger hollow duty ratio, the hollow duty ratio is increased along with the increase of the outer diameter of the stator, the maximum hollow duty ratio can be increased to 50% -75%, and the application of the hollow ultrasonic motor in the occasion of large hollow and large torque is expanded;
the rotor is of a rigid structure, the stator is suspended between the rigid rotor and the wave spring with proper rigidity, the wave spring has strong buffering capacity, and compared with the existing rotary traveling wave ultrasonic motor, the rotary traveling wave ultrasonic motor has better high overload resistance;
the stator is suspended between the rigid rotor and the wave spring, and the motor has the advantage of good stability under the conditions of low speed and large torque, and particularly has better stability when the rigidity of the wave spring and the rigidity and amplitude of the designed stator meet certain conditions;
the invention mainly relies on the deformation of the wave spring to provide the precompression, the deformation displacement of the wave spring is large, when the friction material of the motor is about to be completely worn out at the end of the service life, the precompression is still within the optimal precompression range, the consistency of the output performance of the motor and the initial stage of the service life can be still ensured, and the problem that the output performance of the existing ultrasonic motor which relies on the deformation of the stator and the rotor to provide the precompression is reduced by half or more than half at the end of the service life is solved.
The hollow rotary traveling wave ultrasonic motor provides precompression through the wave spring, and has excellent starting characteristics at low temperature.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of a prior art annular stator assembly having a webless structure;
FIG. 2 is a schematic diagram of a first embodiment of a traveling wave rotary ultrasonic motor employing a novel pre-pressure application scheme in accordance with the present invention;
FIG. 3 is a schematic diagram of the explosion of the complete machine of a first embodiment of the rotary traveling wave ultrasonic motor of the present invention using a completely new pre-pressure application;
FIG. 4 is a schematic diagram of a stator assembly of a first embodiment of a rotary traveling wave ultrasonic motor employing a novel pre-pressure application regime according to the present invention;
FIG. 5 is a schematic view showing the structure of a dust cover of a first embodiment of a traveling wave rotary ultrasonic motor using a novel pre-pressure application mode according to the present invention;
FIG. 6 is a schematic diagram showing a labyrinth structure formed by the dust cover and the stator of the first embodiment of the rotary traveling wave ultrasonic motor adopting a brand new pre-pressure application mode;
fig. 7 is a schematic diagram of a stator support frame structure of a rotary traveling wave ultrasonic motor adopting a brand new pre-pressure application mode according to the present invention;
FIG. 8 is a schematic diagram of a precompression housing of a traveling wave rotary ultrasonic motor employing a novel precompression application pattern in accordance with the present invention;
FIG. 9 is a schematic diagram of a second embodiment of a traveling wave rotary ultrasonic motor employing a completely new pre-pressure application scheme in accordance with the present invention;
FIG. 10 is a schematic diagram of a rigid rotor assembly of a second embodiment of a rotary traveling wave ultrasonic motor employing a novel pre-pressure application regime according to the present invention;
FIG. 11 is a schematic diagram of an embodiment of the present invention of a technique for a traveling wave rotary ultrasonic motor using a completely new pre-pressure application scheme in a solid shaft traveling wave rotary ultrasonic motor; FIG. 12 is a schematic diagram of a shaft and rigid rotor assembly of an embodiment of the present invention for a solid shaft rotary traveling wave ultrasonic motor using a novel pre-pressure application technique, wherein 12a is a shaft structure and 12b is a rigid rotor assembly structure;
fig. 13 is a schematic structural diagram of a stator base of an application embodiment of the technology of the rotary traveling wave ultrasonic motor adopting a brand new pre-pressure application mode in the solid shaft rotary traveling wave ultrasonic motor.
Fig. 14 is a schematic diagram showing another structure of the stator support and the stator assembly of the rotary traveling wave ultrasonic motor of the present invention, which is limited to rotate in the circumferential direction by the precompression housing of the rotary traveling wave ultrasonic motor using a completely new precompression application method.
Wherein: 1 is an annular stator with a webless structure, 2 is a piezoelectric ceramic plate, 3 is a flexible printed plate, 4 is a base, 5 is a bearing, 6a is a rigid rotor, 6b is a friction plate, 7a is a stator, 7b is a piezoelectric ceramic plate, 7c is a flexible printed plate, 8 is a stator support frame, 9 is a wave spring, 10 is a precompression shell, 11 is a dust cover, 12 is a PCB, 13 is an electric interface, 14 is a first annular concave-convex structure, 15 is a ground wire conducted with a stator, 16 is a second annular concave-convex structure, 17 is a groove, 18 is a channel for storing heat-conducting silica gel or heat-conducting silicone grease, 19 is a boss, 20 is an outlet, 21 is a solid shaft, 22 is a stator support frame outer circle milled flat, and 23 is a pre-pressure shell milled flat.
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.
Fig. 1 is a schematic view of a prior art annular stator assembly having a web-less structure, comprising the following components: 1 is an annular stator with a web-free structure, 2 is a piezoelectric ceramic sheet, 3 is a flexible printed board,
as shown in fig. 2-14, the present invention includes the following features: 4 is a base, 5 is a bearing, 6a is a rigid rotor, 6b is a friction plate, 7a is a stator, 7b is a piezoelectric ceramic plate, 7c is a flexible printed board, 8 is a stator support frame, 9 is a wave spring, 10 is a pre-pressure shell, 11 is a dust cover, 12 is a PCB (printed circuit board), 13 is an electrical interface, 14 is a first annular concave-convex structure, 15 is a ground wire conducted with the stator, 16 is a second annular concave-convex structure, 17 is a groove, 18 is a channel for storing heat-conducting silica gel or heat-conducting silicone grease, 19 is a boss, 20 is an outlet, 21 is a solid shaft, 22 is round milled flat outside the stator support frame, and 23 is milled flat of the pre-pressure shell.
As shown in FIG. 2, the rotary traveling wave ultrasonic motor adopting a brand-new pre-pressure application mode comprises a rigid rotor assembly, wherein one side of the rigid rotor assembly is arranged on a motor base through a bearing, and a stator assembly, a stator support frame and a pre-pressure shell are sequentially arranged on the other side of the rigid rotor assembly;
the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected;
the method comprises the steps that a counter weight cylinder is arranged on an inner web plate of a stator along the circumference of the stator, a stator support frame is fixed on the counter weight cylinder on one side of the inner web plate of the stator opposite to a piezoelectric ceramic plate through gluing or interference fit, at least one groove is formed in the circumference of the inner ring of the stator support frame, at least one boss is arranged on the circumference of the inner ring of a pre-compression shell, the number and the forming positions of the grooves are matched with those of the bosses, and the bosses on the inner circumference of the pre-compression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and a stator assembly in the circumferential direction;
a wave spring is also arranged between the precompression shell and the stator support frame; a wire outlet is arranged on the side surface of the pre-pressure shell, a PCB is installed and fixed on the pre-pressure shell by using a screw, and the PCB is in butt joint with the electric interface;
as a further preferred aspect of the present invention, the present invention further comprises a dust cover installed between the rigid rotor and the stator, which is fixed on the stepped hole formed on the inner circumference of the rigid rotor by gluing or interference fit;
the end face of the dustproof cover, which is opposite to the stator, is provided with a first annular concave-convex structure, the inner web plate of the stator is provided with a counterweight cylinder which is distributed along the circumference of the stator, the two ends of the counterweight cylinder are respectively higher than the inner web plate of the stator, and the length of the inner web plate of the stator, which is opposite to the piezoelectric ceramic plate, is longer than the length of the inner web plate of the stator, which is opposite to the rigid rotor;
the end face of the counterweight cylinder, which is opposite to the rigid rotor, is provided with a second annular concave-convex structure along the circumference of the stator, and the second annular concave-convex structure is in clearance fit with the first annular concave-convex structure, so that a labyrinth structure is formed when the stator and the dust cover are integrated;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
as a further preferred aspect of the present invention, the rigid rotor is integrally formed with the shaft, and the motor is in a single-output shaft form; the disc of the rigid rotor is of a rigid structure, the outer circumference of the disc is provided with an annular surface for adhering the friction plate, and the inner circumference of the disc is provided with a stepped hole for fixedly installing the dust cover;
the end face of the dust cover, which is opposite to the rigid rotor, is of a ladder structure, is matched with a ladder hole formed in the inner circumference of the rigid rotor, and the dust cover is fixed on the rigid rotor through gluing or interference fit;
as a further preferred mode of the invention, three evenly-distributed grooves are formed on the circumference of the inner ring of the stator support frame, three evenly-distributed bosses are arranged on the circumferential surface of the inner ring of the precompression shell, the grooves are matched with the formed positions of the bosses, and the bosses on the inner circumference of the precompression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction; as a further preferred aspect of the present invention, the two ends of the counterweight cylinder disposed along the circumference of the stator on the inner web plate of the stator are respectively higher than the inner web plate of the stator, and the length of the inner web plate extending out of the stator relative to the piezoelectric ceramic plate is longer than the length of the inner web plate extending out of the stator relative to the rigid rotor;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
as a further preferred aspect of the present invention, the rigid rotor is integrally formed with the shaft, and the motor is in a double-output shaft form; the integrally formed rigid rotor is in clearance fit with the stator, the stator support frame and the precompression shell; the disc of the rigid rotor is of a rigid structure, and the outer circumference of the disc is provided with an annular surface for adhering the friction plate;
as a further preferred mode of the invention, three evenly-distributed grooves are formed on the circumference of the inner ring of the stator support frame, three evenly-distributed bosses are arranged on the circumferential surface of the inner ring of the precompression shell, the grooves are matched with the formed positions of the bosses, and the bosses on the inner circumference of the precompression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction;
as a further preferred mode of the invention, three evenly-distributed grooves are formed in the inner ring circumference of the stator support frame, three evenly-distributed bosses are arranged on the inner ring circumference of the pre-pressure shell, the bosses are vertically distributed with the inner ring circumference, the grooves are matched with the forming positions of the bosses, and the bosses on the inner circumference of the pre-pressure shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction.
Fig. 2-3 show a first embodiment of the present invention, a rotary traveling wave ultrasonic motor adopting a completely new pre-pressure application mode, including a rigid rotor assembly, one side of the rigid rotor assembly is mounted on a motor base through a bearing, and the other side is sequentially provided with a stator assembly, a stator support frame and a pre-pressure housing;
the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected;
in the invention, the fixing mode of the stator assembly with the web structure is designed into a suspension mode, screw holes for fixing the stator through screws in the prior art are omitted, the width of the web is designed to be limited small size, and the diameter of an inner hole of the stator is enlarged.
The method comprises the steps that a counterweight cylinder is arranged on an inner web plate of a stator along the circumference of the stator, a stator support frame is fixed on the counterweight cylinder on one side of the inner web plate of the stator opposite to a piezoelectric ceramic plate through gluing or interference fit, three evenly-distributed grooves are formed in the circumference of the inner ring of the stator support frame, as shown in fig. 7, three evenly-distributed bosses are formed in the circumferential surface of the inner ring of a precompaction shell, the positions of the grooves are matched with the positions of the bosses, the bosses on the inner circumference of the precompaction shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and a stator assembly in the circumferential direction, and meanwhile, the movement of the stator assembly and the stator support frame in the radial direction is limited, and only the freedom degrees of the stator assembly and the stator support frame in the circumferential direction are reserved;
a wave spring is also arranged between the precompression shell and the stator support frame; the wave spring is extruded by the precompression shell, and the wave spring extrudes the stator support frame and the stator, so that the tooth surface of the stator is pressed on the friction plate of the rigid rotor to finish the application of precompression of the motor;
the dustproof sleeve is arranged between the rigid rotor and the stator, and is fixed on a stepped hole formed in the inner circumference of the rigid rotor through gluing or interference fit;
the end face of the dust cover, which is opposite to the stator, is provided with a first annular concave-convex structure as shown in fig. 6, and the two ends of the counterweight cylinder, which is arranged on the inner web plate of the stator along the circumference of the stator, are respectively higher than the inner web plate of the stator, and the length of the inner web plate, which is extended out of one side of the inner web plate of the stator, which is opposite to the piezoelectric ceramic plate, is longer than the length of the inner web plate, which is extended out of one side of the inner web plate of the stator, which is opposite to the rigid rotor, as shown in fig. 4; the four-part areas on the two sides of the arc electrode on the piezoelectric ceramic piece are used as ground wires in the design, and after the piezoelectric ceramic piece is stuck on the stator by epoxy glue, the silver layers on the two areas are conducted with the stator by using conductive silver paste;
two mutually-conducted ground wires are designed at the same time on the flexible printed board corresponding to the quarter-divided areas on the two sides of the arc electrode on the piezoelectric ceramic piece, and can be adhered to the stator web plate by using conductive adhesive or epoxy adhesive, and finally the flexible printed board is led out, so that the safe grounding of the suspension stator assembly is ensured.
As shown in fig. 5, a second annular concave-convex structure is formed on the end surface of the counterweight cylinder relative to the rigid rotor along the circumference of the stator, and the second annular concave-convex structure is in clearance fit with the first annular concave-convex structure, so that a labyrinth structure is formed when the stator is integrated with the dust cover, and the labyrinth structure is used for preventing dust and abrasive dust from falling into other devices (such as lenses) in the through hole;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
the pre-pressure shell is provided with an inward-sinking circumferential cylindrical surface on one side of the pre-pressure shell opposite to the stator support frame, the inward-sinking circumferential cylindrical surface plays a role in centering, the circumferential cylindrical surface is in clearance fit with the outer circumferential side surface of the stator support frame, the guiding function is achieved, the stator and the stator support frame can be limited to move in the radial direction, and the superposition degree of the rotating shafts of the stator and the rotor is ensured;
the pre-pressure shell is also provided with a wire outlet, the PCB is installed and fixed on the wire outlet by using the screw, and the fixing screw can simultaneously conduct the ground wire on the PCB with the pre-pressure shell.
A channel for storing heat-conducting silica gel or heat-conducting silicone grease is formed on the cylindrical surface along the side surface of the outer circumference of the stator support frame;
the shaft sleeved with the rigid rotor component is of a hollow structure;
the rigid rotor and the shaft are integrally formed, the motor adopts a single-output shaft mode, and the rotor directly outputs torque and rotation speed and has high overload resistance; the outer circumference of the dustproof sleeve is provided with a ring surface for adhering the friction plate, and the inner circumference of the dustproof sleeve is provided with a stepped hole for fixedly installing the dustproof sleeve; the disc of the rigid rotor is of a rigid structure, the rotor is hardly deformed under the working pre-pressure, only the tiny deformation of the stator web is remained, the contact area of the friction plate and the stator is increased, the tangential friction moment is increased under the same pre-pressure and friction coefficient, and the output performance of the motor can be improved to a certain extent;
the end face of the dust cover, which is opposite to the rigid rotor, is of a ladder structure, the dust cover is matched with a ladder hole formed in the inner circumference of the rigid rotor, and the dust cover is fixed on the rigid rotor through gluing or interference fit. It is noted that the dust cover may be designed as an integral structure with the rigid rotor as described above, and the dust-proof effect described above may be achieved as well.
Fig. 9-10 show a second embodiment of the present invention, a rotary traveling wave ultrasonic motor using a completely new pre-pressure application mode, including a rigid rotor assembly, one side of which is provided with a motor base through a bearing, and the other side of which is provided with a stator assembly, a stator support frame and a pre-pressure housing in sequence;
the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected;
the method comprises the steps that a counter weight cylinder is arranged on an inner web plate of a stator along the circumference of the stator, a stator support frame is fixed on the counter weight cylinder on one side of the inner web plate of the stator opposite to a piezoelectric ceramic plate through gluing or interference fit, three evenly-distributed grooves are formed in the circumference of the inner ring of the stator support frame, three evenly-distributed bosses are arranged on the circumferential surface of the inner ring of a precompression shell, the grooves are matched with the formed positions of the bosses, and the bosses on the inner circumference of the precompression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and a stator assembly in the circumferential direction;
and a wave spring is also arranged between the precompression shell and the stator support frame.
The two ends of the counterweight cylinder are respectively higher than the inner web plate of the stator, and the length of the inner web plate of the stator, which extends out of one side of the piezoelectric ceramic plate, is longer than the length of the inner web plate of the stator, which extends out of one side of the inner web plate of the stator, which is relatively rigid, of the rotor;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
the rigid rotor and the shaft are integrally formed, and the motor adopts a double-output shaft mode; the integrally formed rigid rotor is in clearance fit with the stator, the stator support frame and the precompression shell; the disc of the rigid rotor is of a rigid structure, and the outer circumference of the disc is provided with an annular surface for adhering the friction plate.
The structure in the second embodiment adopts a double-output shaft structure, the motor can output torque and rotating speed at two ends simultaneously, one end can also output, the other end is provided with sensors such as an encoder and the like for closed-loop control, high-precision positioning of the motor is realized, and meanwhile, the rigid rotor and the shaft are integrally formed in a double-output shaft mode and then are in clearance fit with the stator, the stator support frame and the precompression shell, so that the dustproof effect can be achieved.
The above structure for hollow shaft is suitable for replacing the hollow shaft in the second embodiment with a solid shaft, as shown in fig. 11-13, a rotary traveling wave ultrasonic motor adopting a completely new pre-pressure application mode, which comprises a rigid rotor assembly, wherein one side of the rigid rotor assembly is provided with a motor base through a bearing, and the other side of the rigid rotor assembly is provided with a stator assembly, a stator support frame and a pre-pressure shell in sequence;
the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected;
the method comprises the steps that a counter weight cylinder is arranged on an inner web plate of a stator along the circumference of the stator, a stator support frame is fixed on the counter weight cylinder on one side of the inner web plate of the stator opposite to a piezoelectric ceramic plate through gluing or interference fit, three evenly-distributed grooves are formed in the circumference of the inner ring of the stator support frame, three evenly-distributed bosses are arranged on the circumference of the inner ring of a precompression shell and are perpendicular to the circumference of the inner ring, the positions of the grooves are matched with the positions of the bosses, and the bosses on the inner circumference of the precompression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and a stator assembly in the circumferential direction; the method comprises the steps of carrying out a first treatment on the surface of the
A wave spring is also arranged between the precompression shell and the stator support frame; and a wire outlet is formed in the side surface of the pre-pressure shell, the PCB is installed and fixed on the pre-pressure shell by using screws, and the PCB is in butt joint with the electric interface.
The two ends of the counterweight cylinder are respectively higher than the inner web plate of the stator, and the length of the inner web plate of the stator, which extends out of one side of the piezoelectric ceramic plate, is longer than the length of the inner web plate of the stator, which extends out of one side of the inner web plate of the stator, which is relatively rigid, of the rotor;
the end surface of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed;
an inward-sinking circumferential cylindrical surface is formed on one side of the precompression shell, opposite to the stator support frame, and is in clearance fit with the outer circumferential side surface of the stator support frame, so that the stator support frame and the stator assembly are limited to move in the radial direction;
a channel for storing heat-conducting silica gel or heat-conducting silicone grease is formed on the cylindrical surface along the side surface of the outer circumference of the stator support frame;
the rigid rotor assembly is separated from the shaft and sleeved on the solid shaft; a bearing is arranged at the contact position of the precompression shell and the shaft;
the integrated rigid rotor is separated into a shaft and a rigid rotor, and meanwhile, in order to increase the stability of the shaft, a bearing is added on the precompression shell, a stator assembly and a stator support frame are still in a suspension state, and the degrees of freedom of the stator assembly and the stator support frame in the circumferential direction and the radial direction are still realized by clamping a boss on the inner circumference of the precompression shell into a groove of the stator support frame; the wave spring is extruded by the stator seat under the structure, the wave spring extrudes the suspended stator support frame and the stator assembly, and finally the pre-compression is applied.
It is noted that, the stator support frame and the pre-compression shell in all embodiments of the present invention may be designed as shown in fig. 14, the outer circumference of the stator support frame is designed to be round-milled and flattened outside the stator support frame, the pre-compression shell is also designed to be round-milled and flattened on the cylindrical surface of the pre-compression shell, and the milling and flattening structure can also play a role in limiting the rotation of the stator support frame and the stator assembly in the circumferential direction, and the above-mentioned structure has different technological aspects with the limiting of the rotation of the stator support frame and the stator assembly in the circumferential direction by clamping the boss on the inner circumference of the pre-compression shell into the groove of the stator support frame.
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 (10)
1. The utility model provides an adopt rotatory travelling wave ultrasonic motor of brand-new precompression mode of applying which characterized in that: the motor comprises a rigid rotor assembly, wherein one side of the rigid rotor assembly is arranged on a motor base through a bearing, and a stator assembly, a stator support frame and a precompression shell are sequentially arranged on the other side of the rigid rotor assembly;
the rigid rotor assembly comprises a rigid rotor and a friction plate which are connected in sequence;
the stator assembly comprises a stator, a piezoelectric ceramic piece and a flexible printed board which are sequentially connected;
arranging a counterweight cylinder on the inner web plate of the stator along the circumference of the stator, fixing a stator support frame on the counterweight cylinder on one side of the inner web plate of the stator opposite to the piezoelectric ceramic plate through gluing or interference fit, arranging at least one groove on the circumference of the inner ring of the stator support frame, arranging at least one boss on the circumference of the inner ring of the pre-compression shell, wherein the number and the arrangement positions of the grooves are matched with each other, and the bosses on the circumference of the inner ring of the pre-compression shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction;
a wave spring is also arranged between the precompression shell and the stator support frame; and a wire outlet is formed in the side surface of the pre-pressure shell, the PCB is installed and fixed on the pre-pressure shell by using screws, and the PCB is in butt joint with the electric interface.
2. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 1, wherein: the dustproof sleeve is arranged between the rigid rotor and the stator, and is fixed on a stepped hole formed in the circumference of the inner ring of the rigid rotor through gluing or interference fit;
the end face of the dustproof cover, which is opposite to the stator, is provided with a first annular concave-convex structure, the inner web plate of the stator is provided with a counterweight cylinder which is distributed along the circumference of the stator, the two ends of the counterweight cylinder are respectively higher than the inner web plate of the stator, and the length of the inner web plate of the stator, which is opposite to the piezoelectric ceramic plate, is longer than the length of the inner web plate of the stator, which is opposite to the rigid rotor;
the end face of the counterweight cylinder, which is opposite to the rigid rotor, is provided with a second annular concave-convex structure along the circumference of the stator, and the second annular concave-convex structure is in clearance fit with the first annular concave-convex structure, so that a labyrinth structure is formed when the stator and the dust cover are integrated;
the end face of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed.
3. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 2, wherein: the rigid rotor and the shaft are integrally formed, and the motor adopts a single-output shaft mode; the disc of the rigid rotor is of a rigid structure, the outer circumference of the disc is provided with an annular surface for adhering the friction plate, and the inner circumference of the disc is provided with a stepped hole for fixedly installing the dust cover;
the end face of the dust cover, which is opposite to the rigid rotor, is of a ladder structure, the dust cover is matched with a ladder hole formed in the circumference of the inner ring of the rigid rotor, and the dust cover is fixed on the rigid rotor through gluing or interference fit.
4. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 3, wherein: three evenly distributed grooves are formed in the circumference of the inner ring of the stator support frame, three evenly distributed bosses are arranged on the circumferential surface of the inner ring of the pre-pressure shell, the grooves are matched with the formed positions of the bosses, and the bosses on the circumference of the inner ring of the pre-pressure shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction.
5. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 1, wherein: the two ends of the counterweight cylinder are respectively higher than the inner web plate of the stator, and the length of the inner web plate of the stator, which extends out of one side of the piezoelectric ceramic plate, is longer than the length of the inner web plate of the stator, which extends out of one side of the inner web plate of the stator, which is relatively rigid, of the rotor;
the end face of the counterweight cylinder extending out of one side of the stator inner web plate opposite to the piezoelectric ceramic plate is matched with a circumferential groove formed between the inner ring and the outer ring of the stator support frame, and the stator support frame and the stator assembly are integrally installed.
6. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 5, wherein: the rigid rotor and the shaft are integrally formed, and the motor adopts a double-output shaft mode; the integrally formed rigid rotor is in clearance fit with the stator, the stator support frame and the precompression shell; the disc of the rigid rotor is of a rigid structure, and the outer circumference of the disc is provided with an annular surface for adhering the friction plate.
7. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 6, wherein: three evenly distributed grooves are formed in the circumference of the inner ring of the stator support frame, three evenly distributed bosses are arranged on the circumferential surface of the inner ring of the pre-pressure shell, the grooves are matched with the formed positions of the bosses, and the bosses on the circumference of the inner ring of the pre-pressure shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction.
8. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 2 or 5, wherein: an inward-sinking circumferential cylindrical surface is formed on one side of the precompression shell, opposite to the stator support frame, and is in clearance fit with the outer circumferential side surface of the stator support frame, so that the stator support frame and the stator assembly are limited to move in the radial direction;
a channel for storing heat-conducting silica gel or heat-conducting silicone grease is formed on the cylindrical surface along the side surface of the outer circumference of the stator support frame;
the rigid rotor assembly is hollow.
9. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 2 or 5, wherein: an inward-sinking circumferential cylindrical surface is formed on one side of the precompression shell, opposite to the stator support frame, and is in clearance fit with the outer circumferential side surface of the stator support frame, so that the stator support frame and the stator assembly are limited to move in the radial direction;
a channel for storing heat-conducting silica gel or heat-conducting silicone grease is formed on the cylindrical surface along the side surface of the outer circumference of the stator support frame;
the rigid rotor assembly is separated from the shaft and sleeved on the solid shaft;
bearings are arranged at the contact position of the precompression shell and the shaft.
10. The rotary traveling wave ultrasonic motor employing a completely new pre-pressure application mode according to claim 9, wherein: three evenly distributed grooves are formed in the inner ring circumference of the stator support frame, three evenly distributed bosses are arranged on the inner ring circumference of the pre-pressure shell and are vertically distributed with the inner ring circumference, the positions of the grooves are matched with the positions of the bosses, and the bosses on the inner ring circumference of the pre-pressure shell are clamped into the grooves of the stator support frame to limit the rotation of the stator support frame and the stator assembly in the circumferential direction.
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| CN111200349B (en) * | 2020-02-11 | 2021-04-23 | 南通大学 | Combined type motor of high accuracy location |
| 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 |
| CN113740729A (en) * | 2021-07-29 | 2021-12-03 | 北京空间机电研究所 | Pre-pressure applying device and method applied to performance test of traveling wave ultrasonic motor |
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