CN108880323B - A kind of piezoelectric motor and its application method that rotational speed and torque is variable - Google Patents
A kind of piezoelectric motor and its application method that rotational speed and torque is variable Download PDFInfo
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- CN108880323B CN108880323B CN201810619146.2A CN201810619146A CN108880323B CN 108880323 B CN108880323 B CN 108880323B CN 201810619146 A CN201810619146 A CN 201810619146A CN 108880323 B CN108880323 B CN 108880323B
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- 238000000034 method Methods 0.000 title claims description 12
- 210000002683 foot Anatomy 0.000 claims abstract description 65
- 239000000919 ceramic Substances 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 9
- 229920001971 elastomer Polymers 0.000 claims description 4
- 239000000806 elastomer Substances 0.000 claims description 4
- 230000005284 excitation Effects 0.000 claims description 2
- 229910052573 porcelain Inorganic materials 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- 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
- H02N2/12—Constructional details
-
- 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
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
Abstract
The invention discloses a kind of torque and the piezoelectric motors of variable speed, including circular stator seat, stator seat includes first end face and second end face, rotatable rotor is equipped in the middle part of stator seat, stator seat second end face is equipped with actuator, and actuator is driven by driver, and the actuator includes the driving foot that multiple groups length does not wait, any group of driving foot quantity is no less than two and equal length, and same group respectively drives foot to be arranged circumferentially along second end face；The driver drives the driving frequency of different groups of driving foots different.Piezoelectric motor of the present invention includes multiple groups height not equal driving foot, foot is driven with different driving frequency each group by driver, different output revolving speeds can be provided, in addition, every group of driving foot quantity is no less than two, the driving of this group of different number can overcome the shortcomings that electromagnetic machine cannot achieve low-speed big output completely, and piezoelectric motor of the present invention has the characteristics that no electromagnetic pollution, torque weight ratio are high to provide different output torques.
Description
Technical field
The present invention relates to the variable piezoelectric motor of industrial control system technical field more particularly to a kind of rotational speed and torque and its
Application method.
Background technique
Piezoelectric motor is using the inverse piezoelectric effect of ceramics, by applying voltage on piezoelectric ceramics, so that piezoelectric ceramics
Vibration is generated, and then the stator of motor is motivated to generate vibration, drives rotor motion.
The output torque of piezoelectric motor and revolving speed are all the excited vibrations that piezoelectric elasticity is controlled by control circuit at present
Position between frequency and the resonance frequency of elastomer realizes that this kind of mode of speed regulation causes consequence to be the overall power decline of motor,
As long as realize velocity variations, it will lead to output torque and become smaller, at this moment, the torque of output can only become smaller, and can not increase；From
And lead to not meet output requirement.
Summary of the invention
The piezoelectric motor and its application method that can be changed the object of the present invention is to provide a kind of rotational speed and torque, the piezoelectric motor knot
Structure is simple, easy to use, can provide a variety of output revolving speeds and output torque.
For achieving the above object, the technical scheme is that the piezoelectric motor of a kind of torque and variable speed, packet
Circular stator seat is included, stator seat includes first end face and second end face, is equipped with rotatable rotor, stator seat in the middle part of stator seat
Second end face is equipped with actuator, and actuator is driven by driver, and the actuator includes the driving foot that multiple groups length does not wait, and appoints
One group of driving foot quantity is no less than two and equal length, and same group respectively drives foot to be arranged circumferentially along second end face；It is described
Driver drives the driving frequency of different groups of driving foots different.
Further, any driving foot includes rectangular stator elastomer, and stator elastomeric is parallel to rotor length
Direction, and stator elastomeric one end is connect with the second end face, other end medial surface is equipped with driving head；Stator elastomeric is close
Stator seat one end is equipped with the first piezoelectric ceramics and the second piezoelectric ceramics, and the first piezoelectric ceramics is pasted in the outside of stator elastomeric
Face, for driving stator elastomeric to swing along the direction of rotor radius, the second piezoelectric ceramics is pasted in stator elastomeric lateral surface
Adjacent surface, for drive stator elastomeric along perpendicular to rotor radius direction swing；First piezoelectric ceramics and the second piezoelectricity
Ceramics are connect by conducting wire with the driver；The stator elastomeric length of the different group driving foots differs.
Further, group number is five groups enough for the driving of the actuator, and every group of driving foot quantity is two.
A kind of application method of the piezoelectric motor of torque and variable speed, method include:
1) selection meets the actuator of rotor speed
Introduce the calculation formula of rotor speed v
V=f*Xqn*60/2*3*π*r
Wherein, f is driver driving frequency；XqnFor the amplitude that each driving foot is swung along the direction perpendicular to rotor radius, q
For a group number, n is the driving foot quantity of any driving group；Rotor radius r；
According to above-mentioned measurement parameter and required rotor speed, driving frequency f needed for output revolving speed is calculated, due to
It drives the frequency of different groups of driving foots different, then can be determined for compliance with the driving foot of driving frequency f；
2) the driving foot quantity of output rotor torque is selected
Introduce rotor torque calculation formula
M=(λq1+λq2+……+λqn)*Fq*0.02
Wherein, λqnFor the coefficient of friction between the driving head and rotor of each group driving foot；FqIt is each group driving foot along rotor half
When diameter direction is swung, the normal pressure generated is contacted with rotor；
According to above-mentioned measurement parameter and required rotor torque, driving foot quantity needed for output torque is calculated.
The beneficial effects of the present invention are: piezoelectric motor of the present invention includes multiple groups height not equal driving foot, pass through driver
Foot is driven with different driving frequency each group, different output revolving speeds can be provided, in addition, every group of driving foot quantity is no less than two
A, the driving of this group of different number can be to provide different output torques, and overcoming electromagnetic machine cannot achieve the big torsion of low speed
The shortcomings that square exports, and piezoelectric motor of the present invention has the characteristics that no electromagnetic pollution, torque weight ratio are high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1；
Fig. 2 is to drive sufficient swinging track schematic diagram in the embodiment of the present invention 1.
Specific embodiment
Below in conjunction with attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
Embodiment 1
As shown in Figure 1, the piezoelectric motor of a kind of torque and variable speed, including circular stator seat 1, stator seat 1 include
First end face 11 and second end face 12, rotatable rotor 2 is equipped in the middle part of stator seat 1, and 1 second end face 11 of stator seat is equipped with driving
Part 3, actuator 3 are driven by driver 4, and the actuator 3 includes the driving foot that multiple groups length does not wait, the present embodiment driving foot
Group number is preferably five groups, and any group of driving foot quantity is no less than two and equal length, and same group respectively drives foot along second end face
12 are arranged circumferentially, and it is preferably two that the present embodiment, which drives sufficient quantity,；Since the length of driving foot does not have to, lead to its resonance frequency
Rate is also different, and the driver 4 drives the driving frequency of different groups of driving foots different.
Any driving foot includes rectangular stator elastomer 31, and stator elastomeric 31 is parallel to 2 length direction of rotor,
And 31 one end of stator elastomeric is connect with the second end face 12, other end medial surface is equipped with driving head 32；Stator elastomeric 31
It is equipped with the first piezoelectric ceramics 33 and the second piezoelectric ceramics 34 close to 1 one end of stator seat, the first piezoelectric ceramics 33 is pasted in stator bullet
Property body 31 lateral surface, for driving stator elastomeric 31 to swing along the direction of 2 radius of rotor, the second piezoelectric ceramics 34 pasted
The adjacent surface of 31 lateral surface of stator elastomeric, for driving stator elastomeric 31 along the direction swing perpendicular to 2 radius of rotor；The
One piezoelectric ceramics 33 and the second piezoelectric ceramics 34 are connect by conducting wire with the driver 4；The different group driving foots are determined
Elastic 31 length of body differs.
Since the first piezoelectric ceramics 33, the second piezoelectric ceramics 34 paste 90 degree of alternate position spike, 90 degree of the phase difference for the excitation that is powered
(just, cosine) then drives foot then to synthesize elliptic motion, as shown in Fig. 2, the movement is contacted by driving foot with rotor 2, by rubbing
Power drive rotor 2 is wiped to move.
Embodiment 2
A kind of application method of the piezoelectric motor of torque and variable speed, method include:
1) selection meets the actuator of rotor speed
Introduce the calculation formula of rotor speed v
V=f*Xqn*60/2*3*π*r
Wherein, f is driver driving frequency；XqnFor the amplitude that each driving foot is swung along the direction perpendicular to rotor radius, q
For a group number, n is the driving foot quantity of any driving group；Rotor radius r；
According to above-mentioned measurement parameter and required rotor speed, driving frequency f needed for output revolving speed is calculated, due to
It drives the frequency of different groups of driving foots different, then can be determined for compliance with the driving foot of driving frequency f；
2) the driving foot quantity of output rotor torque is selected
Introduce rotor torque calculation formula
M=(λq1+λq2+……+λqn)*Fq*0.02
Wherein, λqnFor the coefficient of friction between the driving head and rotor of each group driving foot；FqIt is each group driving foot along rotor half
When diameter direction is swung, the normal pressure generated is contacted with rotor；
According to above-mentioned measurement parameter and required rotor torque, driving foot quantity needed for output torque is calculated.
Above-mentioned application method is illustrated below.
As shown in Figure 1, obtaining respectively driving sufficient stator elastomeric along rotor radius in the first driving group by actual measurement
Direction swing resonance frequency be f11=20kHz, the resonance that stator elastomeric is swung along the direction perpendicular to rotor radius
Frequency f12=20.4kHz, the amplitude X that stator elastomeric is swung along the direction perpendicular to rotor radiusqn=4 μm；Second driving
The resonance frequency for respectively driving sufficient stator elastomeric to swing in group along the direction of rotor radius is f21=33kHz, stator elasticity
The resonance frequency f that body is swung along the direction perpendicular to rotor radius22=33.6kHz, stator elastomeric is along perpendicular to rotor half
The amplitude X that the direction of diameter is swungqn=4 μm；Rotor radius r=20mm.
In order to guarantee that the lower driving of driver driving can synthesize elliptic motion enough, when design, need to will put before and after same driving foot
Dynamic to be connected with the resonance mode to swing, i.e., driving frequency is only in the same resonance for driving sufficient swing and swinging
When between frequency, two movements of radial direction and vertical direction could all be ejected, form elliptic motion, driving turns
Son.Hence, it can be determined that driver drive the first driving group in respectively drive sufficient driving frequency need to 20kHz~20.4kHz it
Between, driver, which drives in the second driving group, respectively drives sufficient driving frequency need to be between 33kHz~33.6kHz.
If the rotor speed of required output is 12.8 revs/min, according to rotor speed calculation formula
V=f*Xqn*60/2*3* π * r
Known parameters are substituted into above-mentioned formula
12.8=f*4*60/2*3*3.14*20
It obtains f=20.1kHz, and is between 20kHz~20.4kHz, then it can be by driving the first driving group to obtain
12.8 revs/min of revolving speed output.
If the rotor speed of required output is 21.2 revs/min, according to rotor speed calculation formula
V=f*Xqn*60/2*3* π * r
Known parameters are substituted into above-mentioned formula
21.2=f*4*60/2*3*3.14*20
It obtains f=33.3kHz, and is between 33kHz~33.6kHz, then it can be by driving the second driving group to obtain
21.2 revs/min of revolving speed output.
In addition, rotor is cast iron quality, it is steel material that the driving point of foot is respectively driven in the first driving group, passes through practical survey
Measuring coefficient of friction between rotor and driving point is 0.3, respectively drives sufficient stator elastomeric along rotor radius in the first driving group
Direction driving head normal pressure F that rotor is applied when swinging1=4N, according to rotor torque calculation formula
M=(λq1+λq2+……+λqn)*Fq*0.02
So, when a driving works enough in the first driving group, the rotor torque of motor output is M=0.3*4*0.02
=0.024Nm.
Therefore, when the rotor torque for needing to export is M=0.048Nm, it is only necessary to while two are driven in the first driving group
Drive foot.
Piezoelectric motor of the present invention drives foot by driver with different driving frequency each group, can provide different output and turn
Speed, in addition, every group of driving foot quantity is no less than two, the driving of this group of different number can to provide different output torques,
The shortcomings that electromagnetic machine cannot achieve low-speed big output is overcome, and piezoelectric motor of the present invention has no electromagnetic pollution, turns
The features such as square weight ratio is high.
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to the scope of the present invention.
Claims (3)
1. the piezoelectric motor of a kind of torque and variable speed, including circular stator seat, stator seat include first end face and second
End face, stator seat middle part are equipped with rotatable rotor, and stator seat second end face is equipped with actuator, and actuator passes through driver and drives
It is dynamic, which is characterized in that the actuator includes multiple groups length not equal driving foot, any group of driving foot quantity be no less than two and
Equal length, same group respectively drives foot to be arranged circumferentially along second end face；The driver drives the drive of different groups of driving foots
Dynamic frequency is different；Any driving foot includes rectangular stator elastomer, and stator elastomeric is parallel to rotor length direction, and
Stator elastomeric one end is connect with the second end face, and other end medial surface is equipped with driving head；Stator elastomeric is close to stator seat
One end is equipped with the first piezoelectric ceramics and the second piezoelectric ceramics, and the first piezoelectric ceramics is pasted the lateral surface in stator elastomeric, is used for
Stator elastomeric is driven to swing along the direction of rotor radius, the second piezoelectric ceramics is pasted in the adjacent of stator elastomeric lateral surface
Face, for driving stator elastomeric to swing along the direction perpendicular to rotor radius；First piezoelectric ceramics and the second piezoelectric ceramics are equal
It is connect by conducting wire with the driver；The stator elastomeric length of the different group driving foots differs；Since the first piezoelectricity is made pottery
Porcelain, the second piezoelectric ceramics paste 90 degree of alternate position spike, and 90 degree of the phase difference for the excitation that is powered then drives foot then to synthesize elliptic motion, should
Movement is contacted by driving foot with rotor, and frictional force drives rotor motion is passed through.
2. the piezoelectric motor of a kind of torque as described in claim 1 and variable speed, which is characterized in that the drive of the actuator
Action spot group number is five groups, and every group of driving foot quantity is two.
3. a kind of application method of the piezoelectric motor of torque as described in claim 1 and variable speed, which is characterized in that method
Include:
1) selection meets the actuator of rotor speed
Introduce the calculation formula of rotor speed v
V=f*Xqn*60/2*3*π*r
Wherein, f is driver driving frequency；XqnFor the amplitude that each driving foot is swung along the direction perpendicular to rotor radius, q is group
Number, n are the driving foot quantity of any driving group；Rotor radius r；
According to driving frequency, rotor radius, edge perpendicular to rotor radius direction amplitude of fluctuation and required rotor speed, calculate
The driving can be then determined for compliance with since the frequency of different groups of driving foots of driving is different to driving frequency f needed for output revolving speed
The driving foot of frequency f；
2) the driving foot quantity of output rotor torque is selected
Introduce rotor torque calculation formula
M=(λq1+λq2+……+λqn)*Fq*0.02
Wherein, λqnFor the coefficient of friction between the driving head and rotor of each group driving foot；FqIt is each group driving foot along rotor radius side
To when swinging, the normal pressure generated is contacted with rotor；
According to coefficient of friction, normal pressure and required rotor torque, driving foot quantity needed for output torque is calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619146.2A CN108880323B (en) | 2018-06-15 | 2018-06-15 | A kind of piezoelectric motor and its application method that rotational speed and torque is variable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619146.2A CN108880323B (en) | 2018-06-15 | 2018-06-15 | A kind of piezoelectric motor and its application method that rotational speed and torque is variable |
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| Publication Number | Publication Date |
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| CN108880323A CN108880323A (en) | 2018-11-23 |
| CN108880323B true CN108880323B (en) | 2019-08-06 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101019301A (en) * | 2004-06-24 | 2007-08-15 | 米尼斯怀斯股份公司 | Drive unit |
| WO2008124457A1 (en) * | 2007-04-03 | 2008-10-16 | Shuxiang Dong | Miniature piezoelectric motor and method of driving elements using same |
| CN202565197U (en) * | 2012-05-13 | 2012-11-28 | 浙江师范大学 | Asymmetric piezoelectric inertial driver |
| CN104506079A (en) * | 2014-12-12 | 2015-04-08 | 上海大学 | Cross multi-degree-of-freedom ultrasonic motor |
| CN205901626U (en) * | 2016-04-15 | 2017-01-18 | 南京航空航天大学 | A indulge curved type travelling wave piezoelectric vibrator for carrying and location |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4561894B2 (en) * | 2008-07-14 | 2010-10-13 | 株式会社村田製作所 | Piezoelectric motor and manufacturing method thereof |
-
2018
- 2018-06-15 CN CN201810619146.2A patent/CN108880323B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101019301A (en) * | 2004-06-24 | 2007-08-15 | 米尼斯怀斯股份公司 | Drive unit |
| WO2008124457A1 (en) * | 2007-04-03 | 2008-10-16 | Shuxiang Dong | Miniature piezoelectric motor and method of driving elements using same |
| CN202565197U (en) * | 2012-05-13 | 2012-11-28 | 浙江师范大学 | Asymmetric piezoelectric inertial driver |
| CN104506079A (en) * | 2014-12-12 | 2015-04-08 | 上海大学 | Cross multi-degree-of-freedom ultrasonic motor |
| CN205901626U (en) * | 2016-04-15 | 2017-01-18 | 南京航空航天大学 | A indulge curved type travelling wave piezoelectric vibrator for carrying and location |
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| CN108880323A (en) | 2018-11-23 |
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